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Full-Text Articles in Mechanical Engineering
Design And Control Of Next-Generation Uavs For Effectively Interacting With Environments, Caiwu Ding
Design And Control Of Next-Generation Uavs For Effectively Interacting With Environments, Caiwu Ding
Dissertations
In this dissertation, the design and control of a novel multirotor for aerial manipulation is studied, with the aim of endowing the aerial vehicle with more degrees of freedom of motion and stability when interacting with the environments. Firstly, it presents an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. The effectiveness of this method is demonstrated through simulation. Secondly, a humanoid robot arm is adopted to serve as …
Fast Estimation Model Of Pressure-Temperature Response For Planning Focused Ultrasound Surgery, Tariq Mohammad Arif
Fast Estimation Model Of Pressure-Temperature Response For Planning Focused Ultrasound Surgery, Tariq Mohammad Arif
Dissertations
High Intensity Focused Ultrasound (HIFU) is becoming a widely accepted modality for extracorporeal non-invasive hyperthermia and surgical procedures. Since ultrasonic transducers need to operate in various challenging body locations, the arrangement of their array elements can be optimized to improve the capability of controlling focus intensity. In the first part of this dissertation, patterns of pressure field variations with several selected design variables (kerf, transducer element’s number and element’s width-height) are studied. These patterns indicate that there is a more suitable shape and arrangement of transducer elements in a specified area to achieve highest possible pressure. In order to obtain …
Performance Analysis For Genetic Algorithms., Hermrean Wong
Performance Analysis For Genetic Algorithms., Hermrean Wong
Dissertations
Genetic algorithms have been shown effective for solving complex optimization problems such as job scheduling, machine learning, pattern recognition, and assembly planning. Due to the random process involved in genetic algorithms, the analysis of performance characteristics of genetic algorithms is a challenging research topic. Studied in this dissertation are methods to analyze convergence of genetic algorithms and to investigate whether modifications made to genetic algorithms, such as varying the operator rates during the iterative process, improve their performance. Both statistical analysis, which is used for investigation of different modifications to the genetic algorithm, and probability analysis, which is used to …