Mechanical Engineering Commons^™

Design Of Adaptive Sliding Mode Fuzzy Control For Robot Manipulator Based On Extended Kalman Filter, Abdelrahman Aledhaibi

Mechanical & Aerospace Engineering Theses & Dissertations

In this work, a new adaptive motion control scheme for robust performance control of robot manipulators is presented. The proposed scheme is designed by combining the fuzzy logic control with the sliding mode control based on extended Kalman filter. Fuzzy logic controllers have been used successfully in many applications and were shown to be superior to the classical controllers for some nonlinear systems. Sliding mode control is a powerful approach for controlling nonlinear and uncertain systems. It is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances, provided that the bounds of …

An Integrated Engineering-Computation Framework For Collaborative Engineering: An Application In Project Management, Hisham Mohamed El-Sayed Abdelsalam

Mechanical & Aerospace Engineering Theses & Dissertations

Today's engineering applications suffer from a severe integration problem. Engineering, the entire process, consists of a myriad of individual, often complex, tasks. Most computer tools support particular tasks in engineering, but the output of one tool is different from the others'. Thus, the users must re-enter the relevant information in the format required by another tool. Moreover, usually in the development process of a new product/process, several teams of engineers with different backgrounds/responsibilities are involved, for example mechanical engineers, cost estimators, manufacturing engineers, quality engineers, and project manager. Engineers need a tool(s) to share technical and managerial information and to …

Curvilinear Interface Methodology For Finite-Element Applications, Ollie James Rose

Mechanical & Aerospace Engineering Theses & Dissertations

Recent trends in design and manufacturing suggest a tendency toward multiple centers of specialty which results in a need for improved integration methodology for dissimilar finite element or CFD meshes. Since a typical finite element or CFD analysis requires about 50% of an engineers effort to be devoted to modeling and input, there is a need to advance the state-of-the-art in modeling, methodology. These two trends indicate a need to for the capability to combine independently-modeled configurations in an automated and robust way without the need for global remodeling. One approach to addressing this need is the development of interfacing …

Piezoceramic Actuator Placement For Acoustic Control Of Panels, Jeffrey S. Bevan

Mechanical & Aerospace Engineering Theses & Dissertations

Optimum placement of multiple traditional piezoceramic actuators is determined for active structural acoustic control of flat panels. The structural acoustic response is determined using acoustic radiation filters and structural surface vibration characteristics. Linear Quadratic Regulator (LQR) control is utilized to determine the optimum state feedback gain for active structural acoustic control. The optimum actuator location is determined by minimizing the structural acoustic radiated noise using a modified genetic algorithm. Experimental tests are conducted and compared to analytical results.

Anisotropic piezoceramic actuators exhibit enhanced performance when compared to traditional isotropic piezoceramic actuators. As a result of the inherent isotropy, these advanced …

Effects Of Ventilation On Human Thermal Comfort In Rooms, Ahmed F. Alfahaid

Mechanical & Aerospace Engineering Theses & Dissertations

Nowadays, the majority of people spend up to 90% of their time indoors; as a result, the maintenance of optimal indoor climate conditions has become important for their overall health and comfort. The main goal of this study is to predict numerically the flow and temperature patterns and the human thermal comfort conditions in an indoor environment using displacement ventilation.

A Computational Fluid Dynamics (CFD) code has been used to analyze thermal comfort conditions for a fullscale ventilated room. Unstructured grids have been used to discretize the numerical domain. Before undertaking a detailed investigation, the code was validated by comparing …