Mechanical Engineering Commons^™

Cyber-Physical System Characterization And Co-Regulation Of A Quadrotor Uas, Seth E. Doebbeling

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

An Unmanned Aircraft System (UAS) is a Cyber-Physical System (CPS) in which a host of real-time computational tasks contending for shared resources must be cooperatively managed to obtain mission objectives. Traditionally, control of the UAS is designed assuming a fixed, high sampling rate in order to maintain reliable performance and margins of stability. But emerging methods challenge this design by dynamically allocating resources to computational tasks, thereby affecting control and mission performance. To apply these emerging strategies, a characterization and understanding of the effects of timing on control and trajectory following performance is required. Going beyond traditional control evaluation techniques, …

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 …

Design, Analysis And Testing Of Haptic Feedback System For Laparoscopic Graspers In In Vivo Surgical Robots, Nikhil Salvi

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

Laparo-Endoscopic Single Site (LESS) Robotics Surgery is an advanced technology in the field of Minimally Invasive Surgery (MIS). The LESS surgical robots significantly improve the surgeon’s accuracy, dexterity and visualization, and reduce the invasiveness of surgical procedure results in faster recovery time and improved cosmetic results. In a standard robotic endosurgery, the palpation of tissues is performed by laparoscopic graspers located at the end effectors. The master-slave configuration in robotic surgery leads in remote access to the operation site. Therefore, surgeon’s ability to perceive valuable sensory information is severely diminished. Sensory information such as haptics, which is essential for safe …

Time Dependence Of Self-Assembly Process For The Formation Of Inorganic-Organic Hybrid Nanolayers, Alexandre Dhôtel

Department of Engineering Mechanics: Dissertations, Theses, and Student Research

There is increasing interest in self-assembled materials for energy storage, flexible electronics and hydrophobic barriers. Inorganic/organic hybrid thin films and especially organosilane-based coatings already have demonstrated their ability to achieve those goals. However, some fundamental points of their formation process by molecular self-assembly remain unexplained. Although the literature widely reports the effect of temperature on the final nanostructure, until now, no one has taken into account the importance of time during their synthesis.

The main objective of this study was to improve and complete the understanding of mechanisms responsible for the self-organization of organic/inorganic molecules into a highly ordered, layered …

Electronic Commerce Negotiation In A Supply Chain Via Constraint Evaluation, R. Wilhelm, B. Chu, R. Sun

Department of Mechanical and Materials Engineering: Faculty Publications

Negotiation is of critical importance in e-commerce applications where the supply chain is dynamic and reconfiguring. In this research supply chain negotiation problems are addressed as constraint-satisfaction problems. In general each negotiation is handled in the largest scope possible to avoid the suboptimality that can result from many local solutions. This global approach, however, must be balanced with time constraints that apply in e-commerce supply chain execution. In this paper, we describe a new approach for e-commerce supply chain negotiation via constraint evaluation. As well, results from prototype software, distributed across the internet, are discussed. Beyond the general formulation, we …