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Automatically Generating Functional Tests From Specifications - A Knowledge Based Constraint Logical Programming Approach, Ji Chen Jan 1989

Automatically Generating Functional Tests From Specifications - A Knowledge Based Constraint Logical Programming Approach, Ji Chen

Computer Science Theses & Dissertations

Recent experimental results indicate that functional testing is one of the most effective methods in detecting certain classes of faults. Very little work has been done in automating functional testing. This thesis research develops a method, called hierarchical partition, for automating functional testing. The key to our approach is the utilization of a pre-existing knowledge base about the domain of discourse. Several approaches to knowledge organiza­tion are discussed along with the resulting effects on the quantity and quality of functional tests produced. This research is an application and development of Generic Constraint Logic Programming and the Knowledge Driven …


A New Conjecture About Minimal Imperfect Graphs, H. Meyniel, Stephan Olariu Jan 1989

A New Conjecture About Minimal Imperfect Graphs, H. Meyniel, Stephan Olariu

Computer Science Faculty Publications

H. Meyniel proved that in every minimal imperfect graph, every pair of vertices is joined by a chordless path containing an odd number of edges. We conjectured that in every minimal imperfect graph, every pair of vertices is joined by a path containing an even number of edges. We give an equivalent version of this new conjecture.


Sulfide In Surface Waters Of The Western Atlantic Ocean, Gregory A. Cutter, Christian F. Krahforst Nov 1988

Sulfide In Surface Waters Of The Western Atlantic Ocean, Gregory A. Cutter, Christian F. Krahforst

OES Faculty Publications

Using newly developed techniques, some preliminary data on hydrogen sulfide in surface waters of the western Atlantic have been obtained. Concentrations of total sulfide range from <0.1 to 1.1 nmol/L, and vary on a diel basis. At these concentrations, sulfide may affect the cycling of several trace metals via the formation of stable complexes. Production of sulfide in oxygenated seawater may occur through the hydrolysis of carbonyl sulfide or by sulfate reduction within macroscopic particles in the water column. Removal mechanisms can include oxidation, complexation with particulate trace metals, and metal sulfide precipitation. However, the temporal and spatial distributions suggest a complex set of processes governing the behavior of sulfide in the surface ocean.


Nutrient Cycling In Bordenstake Bay Sediments: A Backbarrier Lagoon, Mark J. Herrenkohl Oct 1988

Nutrient Cycling In Bordenstake Bay Sediments: A Backbarrier Lagoon, Mark J. Herrenkohl

OES Theses and Dissertations

Six sets of sediment cores were collected over a one year period (June 1986 to July 1987) to examine nutrient cycling in Bordenstake Bay, a back barrier lagoon on Virginia's Eastern Shore Peninsula. The sampling times were chosen to examine any seasonal effects (e.g., temperature changes) which may affect the rates of metabolism in these sediments.

The sedimentation rate in Bordenstake Bay is 0.76 ± 0.21 cm/yr, leading to the annual deposition of 7. 05 moles of carbon, 0.46 moles of nitrogen, and 0.15 moles of phosphorus, per square meter of the sediment surface. The remineralization of organic matter in …


Recent Benthic Foraminifera Of Breton And Stake Islands Northern Gulf Of Mexico, Eric S. Collins Oct 1988

Recent Benthic Foraminifera Of Breton And Stake Islands Northern Gulf Of Mexico, Eric S. Collins

OES Theses and Dissertations

Fifty-three species of recent benthic foraminifera and thecamoebians have been documented and described from the Breton and Stake Island area, northern Gulf of Mexico, and from a core from Barataria Basin, Mississippi delta.

Cluster analysis of benthic assemblages using presence/absence and transformed abundance data reveals the presence of a marsh and shallow water marine biofacies. Based on the results of a presence/absence cluster analysis, the shallow water marine biofacies can be subdivided into a miliolid biofacies am an Ammonia beccarii/Elphidium species biofacies. Cluster analysis of transformed abundance data, however, shows that the shallow marine biofacies can be subdivided into four …


Structural Geology Of Page Valley, Page County, Virginia, Tamera J. Warden Oct 1988

Structural Geology Of Page Valley, Page County, Virginia, Tamera J. Warden

OES Theses and Dissertations

Page Valley contains folded and faulted Cambro-Ordovician rocks that were deformed during the Pennsylvanian-Permian Alleghanian Orogeny. Previous authors (Allen, 1967; Thornton, 1953; and King, 1950) have mapped "high-angle" faults and a klippe along the South Fork of the Shenandoah River west of Luray, Virginia. The southernmost fault offsets the New Market/Lincolnshire and Edinburg formations with the upthrown block to the west. Thornton suggested gravity sliding and strike-slip movement to explain normal displacements along the northernmost fault where the Edinburg Formation is in contact with overturned beds of the Beekmantown Formation. A klippe, as mapped by Allen and Thornton, lies on …


Trace Elements In Northern Virginia Middle Ordovician Carbonates: Implications For Diagenesis, Ruth Ann Strauss Oct 1988

Trace Elements In Northern Virginia Middle Ordovician Carbonates: Implications For Diagenesis, Ruth Ann Strauss

OES Theses and Dissertations

Ninety-three carbonate rock samples collected from four of the major lithofacies types present in the Middle Ordovician limestone sequence of northwestern Virginia were analyzed to investigate whether the lithofacies bear the geochemical signature of the depositional and/or the diagenetic environment. Significant variations in Cr, Fe, Mg, Mn and Sr concentrations exist among the major lithofacies types. Low levels of Sr in both New Market lithofacies are indicative of an open system during diagenesis. Dissimilar Fe and Mn concentrations between these, however, reflect water chemistry differences in the depositional environment. Increasingly greater Cr, Fe, Mn, and Sr concentrations in the Lincolnshire …


Distribution Of Suspended Particulate Matter, Patuxent River Estuary, Maryland, Christopher W. Frye Oct 1988

Distribution Of Suspended Particulate Matter, Patuxent River Estuary, Maryland, Christopher W. Frye

OES Theses and Dissertations

Physical processes which may affect estuarine circulation in a coastal plain estuary were monitored to determine their relative importance on temporal and spatial variability of the concentration, composition, and particle-size of suspended particulate matter (SPM) in Patuxent River estuary, MD, during 1985-86. Discharge rates from Patuxent River determined the character of fresh and estuarine water mixing, and magnitude of SPM concentration in the upper estuary. The mixing zone between fresh and estuarine water, defined as 0 - 1.5 °‰, and turbidity maximum were geographically separated during most of the study period. This suggests that two-layer circulation may be less important …


The Synthesis And Evaluation Of 5-Phenyloxazolidines As Potential Cardiovascular Drugs, Tammy C. Wang Oct 1988

The Synthesis And Evaluation Of 5-Phenyloxazolidines As Potential Cardiovascular Drugs, Tammy C. Wang

Chemistry & Biochemistry Theses & Dissertations

Drugs such as adrenoceptor antagonists and certain centrally acting agents are known to lower blood pressure and thus serve as clinically useful antihypertensive agents. Norepinephrine 4, a natural ∝-adrenoceptor agonist, is the major agent associated with increased blood pressure in the periphery. Based on a careful structure-activity comparison, a series of substituted oxazolidines, 20, 21, 22 and 23, have been designed as possible antihypertensive candidates. Specifically, 22 and 23 have been synthesized to serve as potential norepinephrine antagonists.

Preliminary evaluation of these compounds indicated that they were not antihypertensive in nature. The more active compound, 23, …


Optimization Of The Tungstic Acid Denuder Technique For The Measurement Of Atmospheric Ammonia, Patricia Diane Roberts Oct 1988

Optimization Of The Tungstic Acid Denuder Technique For The Measurement Of Atmospheric Ammonia, Patricia Diane Roberts

Chemistry & Biochemistry Theses & Dissertations

Measurement of - atmospheric ammonia with the tungstic acid denuder technique is discussed. Characterization of denuder tubes for manual sampling in terms of, repeatability, reliability and the development of ammonia blank signals was determined. Field testing of the manual sampling apparatus was performed at ground test sites and in a biomass burn smoke plume. Ammonia emissions from biomass burning are discussed.


Survival And Reproduction Of The Freshwater Grass Shrimp Palaemonetes Paludosus (Gibbes 1850) (Decapoda:Palaemonidae), In Saline Water, Brian Thomas Lowe Oct 1988

Survival And Reproduction Of The Freshwater Grass Shrimp Palaemonetes Paludosus (Gibbes 1850) (Decapoda:Palaemonidae), In Saline Water, Brian Thomas Lowe

OES Theses and Dissertations

To determine the effects of salinity on adult and larval survival, egg deposition, egg hatching and metamorphosis, shrimp were held in the laboratory and exposed to treatment salinities ranging from O to 35 ppt. Tests on adult survival indicate a 96 hour LC-50 between 30 and 35 ppt. Longer term tests on adult survival showed high mortality in salinities greater than 15 ppt. Shrimp became ovigerous in salinities of O - 20 ppt with egg hatching and metamorphosis limited to O - 5 ppt. Starved- larvae hatched from field captured ovigerous females in O ppt were able to metamorphose in …


The Effects Of Low Doses (1 To 500 Kilograys) Of 100-Kev Electrons On Four Polymers, Cynthia Anne Bradbury Aug 1988

The Effects Of Low Doses (1 To 500 Kilograys) Of 100-Kev Electrons On Four Polymers, Cynthia Anne Bradbury

Physics Theses & Dissertations

Commercial films of polyetherimide (PEI), polyetheretherimide (PEEI), polyethylene terephthalate (PET), and polycarbonate (PC) were exposed in vacuum to l 00-keV electron radiation to total absorbed doses of l, l 0, l 00, 300, and 500 kilograys. The concentration of radiation-generated radicals, as measured by electron paramagnetic resonance (EPR), increased by over an order of magnitude in all four polymers. Correspondingly, the intensity of the infrared absorption peaks increased uniformly for all doses. Solubility tests resulted in decreased solubility in all polymers. IR, EPR, and solubility suggest dehydrogenation of the aliphatic C-H and phenyl C-H sites. The data indicated that cross …


Application Of Advanced Grid Generation Techniques For Flow Field Computations About Complex Configurations, Monchai Kathong Jul 1988

Application Of Advanced Grid Generation Techniques For Flow Field Computations About Complex Configurations, Monchai Kathong

Mechanical & Aerospace Engineering Theses & Dissertations

In the computation of flow fields about complex configurations, it is very difficult to construct a boundary-fitted coordinate system. An alternative approach is to use several grids at once, each of which is generated independently. This procedure is called the "multiple grids" or "zonal grids" approach, and its applications are investigated in this study. The method is a conservative approach and provides conservation of fluxes at grid interfaces. The Euler equations are solved numerically on such grids for various configurations. The numerical scheme used is the finite-volume technique with a three-stage Runge-Kutta time integration. The code is vectorized and programmed …


Calculations Of Three-Dimensional Transonic Flows Using The Implicit Formulation Of The Isenthalpic Euler Equations With Flux Vector Splitting, Frank E. Cannizzaro Jul 1988

Calculations Of Three-Dimensional Transonic Flows Using The Implicit Formulation Of The Isenthalpic Euler Equations With Flux Vector Splitting, Frank E. Cannizzaro

Mechanical & Aerospace Engineering Theses & Dissertations

A numerical method for solving three-dimensional transonic flows using the isenthalpic formulation of the Euler equations is developed. The method uses van Leer's flux vector splitting to solve the implicit formulation of the governing equations, which are applied to a cell centered finite-volume scheme. A three factor spatial approximate factorization is implemented in solving the implicit part of the governing equations. Time marching to a steady state solution requires short computational times due to the relative efficiency of the basic method. Computational times are further reduced by the implementation of the multigrid acceleration technique, which provided converged solutions in approximately …


Economic Considerations For Artificial Reef Development In Coastal Virginia, Dean Thomas Devereaux Jul 1988

Economic Considerations For Artificial Reef Development In Coastal Virginia, Dean Thomas Devereaux

OES Theses and Dissertations

The contingent valuation method, recommended by the U. S. Water Resources Council, was used to estimate the economic value of sport fishing and diving at the Chesapeake Light Tower Artificial Reef. The study is based on a random sample of 170 anglers and 33 divers who participated in telephone, personell and mail-in surveys in 1985 and 1986.

The average user value (consumer surplus) was $21.13, $110,75, and $13.30 for head boat anglers, private boat anglers and sport divers, respectively, who claimed to have used the reef in 1985. Variation in consumer surplus was statistically affected by trip expense, distance from …


The Application Of The Peabody Developmental Motor Scales Administered To 20 Developmentally Delayed Children, Jan H. Henderson Jul 1988

The Application Of The Peabody Developmental Motor Scales Administered To 20 Developmentally Delayed Children, Jan H. Henderson

Community & Environmental Health Theses & Dissertations

The purpose of this research was to provide physical and occupational therapists with empirical data and clinical information that will enable them to better understand and utilize the Peabody Developmental Motor Scales (PDMS) in the assessment of children who potentially may need physical and/or occupational therapy. The PDMS was administered to 20 developmentally delayed children between the ages of 24 and 83 months, who were receiving both physical and occupational therapy in the Chesapeake Public School System. The PDMS was also administered to 20 normal subjects between the ages of 24 and 77 months that were volunteers from the PTA …


Holocene Geology And Migration Of A Low-Profile Barrier Island System, Metompkin Island, Virginia, Mark R. Byrnes Jul 1988

Holocene Geology And Migration Of A Low-Profile Barrier Island System, Metompkin Island, Virginia, Mark R. Byrnes

OES Theses and Dissertations

Analysis of historical shoreline position, cross-island profile change, and stratigraphic data provided a shoreline response model for low-profile barrier island systems. Historical shoreline data illustrates continuous, shore-parallel retreat between 1852 and 1957, at which time the island narrowed to a width of approximately 200 m. Between 1957 and 1981, ephemeral inlet breaching along southern Metompkin Island disrupted longshore sediment transport, increased the rate of shoreline recession, and resulted in differential rates of retreat associated with an abrupt break in backbarrier morphology. By 1981, a 400 m offset had formed at a position midway along Metompkin Island, suggesting that ephemeral inlet …


Foraminiferal Biostratigraphy And Paleoenvironmental Analysis Of The Anahuac Formation (Late Oligocene-Early Miocene) From A Deep Well In Vermilion Parish, Louisiana, Audrey Lynne Orndorff Jul 1988

Foraminiferal Biostratigraphy And Paleoenvironmental Analysis Of The Anahuac Formation (Late Oligocene-Early Miocene) From A Deep Well In Vermilion Parish, Louisiana, Audrey Lynne Orndorff

OES Theses and Dissertations

In the subsurface of Vermilion Parish, Louisiana, sediments from the Anahuac Formation in the #1 J. W. Steen well are assigned an Upper Oligocene-Lower Miocene age based on planktonic foraminifera. Previous age determinations for sediments from this formation elsewhere range from Middle to Late Oligocene based on the presence of larger foraminifera contained within these strata. Planktonic foraminifera in Anahuac formation sediments in the #1 J. W. Steen well permit their assignment to an established worldwide zonation scheme and indicate that the age ranges from the Globorotalia kugleri Interval Zone (Upper Oligocene) to the Catapsydrax dissimilis Zone (Lower Miocene). Benthic …


Atamm Multicomputer System Design, William Robert Tymchyshyn Jul 1988

Atamm Multicomputer System Design, William Robert Tymchyshyn

Electrical & Computer Engineering Theses & Dissertations

The Algorithm To Architecture Mapping Model, or ATAMM, is a graph theoretic design methodology that has been created to resolve design and performance issues involved with concurrent processing. Petri-net marked graphs are used to represent the computational environment.

This thesis describes the development of a multicomputer system which will operate within the bounds specified by the ATAMM model. The system is first designed and implemented using the framework of standard multicomputer design theory. A validation is then performed by the comparison of the system's computational performance to results predicted by ATAMM. This validation is shown to be successful for three …


Theory Of Alpha-Nucleus Collisions At High Energies, Francis A. Cucinotta Jul 1988

Theory Of Alpha-Nucleus Collisions At High Energies, Francis A. Cucinotta

Physics Theses & Dissertations

The interaction of high energy alpha particles with atomic nuclei is considered using multiple scattering theories. Semi-classical solutions to coupled-channel equations derived from Watson's form of the nucleus-nucleus multiple scattering series are shown to be equivalent to the Glauber multiple scattering series. Second-order solutions for the elastic amplitude are developed and used to study the effects of short-range correlations in nuclear scattering. The Jastrow method is used to model the two-particle density for 4He and to construct one and two particle form factors. Excellent agreement with experimental data for angular distributions, and total and reaction cross sections is found. …


Callianassa Trilobata (Crustacea: Thalassinidea) Influences Abundance Of Meiofauna And Biomass, Composition, And Physiologic State Of Microbial Communities Within Its Burrow, Fred C. Dobbs, James B. Guckert Jun 1988

Callianassa Trilobata (Crustacea: Thalassinidea) Influences Abundance Of Meiofauna And Biomass, Composition, And Physiologic State Of Microbial Communities Within Its Burrow, Fred C. Dobbs, James B. Guckert

OES Faculty Publications

Biochemical and traditional methods were used to determine the influence of Callianassa trilobata on microbiological and meiofaunal communities within its large, highly consolidated burrow. Sediment was collected from the lining of the shrimp's burrow, the burrow matrix, and ambient, subsurface sediment. The lining and matrix were composed of poorly sorted, fine-grained material compared to sandy ambient sediment. Meiofauna, predominantly nematodes, were most abundant in ambient sediment, not in the burrow as has been found for other species of macrofauna. Concentrations of chlorophyll a were very high in the lining, consistent with the suggestion that C. trilobata lines its burrow walls …


Microbial Food Resources Of The Macrofaunal-Deposit Feeder Ptychodera Bahamensis (Hemichordata: Enteropneusta), Fred C. Dobbs, James B. Guckert Jun 1988

Microbial Food Resources Of The Macrofaunal-Deposit Feeder Ptychodera Bahamensis (Hemichordata: Enteropneusta), Fred C. Dobbs, James B. Guckert

OES Faculty Publications

Biochemical and traditional analyses were used to characterize the microbial food resources and digestive efficiency of Ptychodera bahamensis, an enteropneust hemichordate. Sediment was collected from freshly extruded fecal casts and adjacent feeding depressions. There were no significant differences between casts and depressions in median grain size, percent silt-clay, density of total meiofauna and of nematodes, and concentrations of chlorophyll a and phaeophytin. Nematodes in casts had a median diameter greater than those in depressions. Measures of total, viable microbial biomass were 30% (total phospholipid, ester-linked fatty acids) and 49% (extractible phospholipid phosphate) lower in casts. Concentrations of 33 fatty …


Full-Potential Integral Solutions For Steady And Unsteady Transonic Airfoils With And Without Embedded Euler Domains, Hong Hu Apr 1988

Full-Potential Integral Solutions For Steady And Unsteady Transonic Airfoils With And Without Embedded Euler Domains, Hong Hu

Mechanical & Aerospace Engineering Theses & Dissertations

The integral equation solution of the full-potential equation is presented for steady and unsteady transonic airfoil flow problems. The method is also coupled with an embedded Euler domain solution to treat flows with strong shocks for steady flows.

For steady transonic flows, three integral equation schemes are well developed. The first two schemes are based on the integral equation solution of the full-potential equation in terms of the velocity field. The Integral Equation with Shock-Capturing (IE-SC) and the Integral Equation with Shock-Capturing Shock-Fitting (IE-SCSF) schemes have been developed. The IE-SCSF scheme is an extension of the IE-SC scheme, which consists …


Integral Equation Solution Of The Full Potential Equation For Three-Dimensional, Steady, Transonic Wing Flows, Li-Chuan Chu Apr 1988

Integral Equation Solution Of The Full Potential Equation For Three-Dimensional, Steady, Transonic Wing Flows, Li-Chuan Chu

Mechanical & Aerospace Engineering Theses & Dissertations

An integral equation method for solving the full potential equation has been developed for three dimensional transonic vortex-wing flows. This method is capable of capturing shocks using the Murman-Cole type of finite difference scheme and is capable of predicting accurate and force-free wake shape as well.

Reading the full potential equation as Poisson's equation, the solution for the velocity field has been expressed in terms of an integral equation using Green's theorem. The solution consists of a surface integral of vorticity distribution on the wing and its free-vortex sheets and a volume integral of source distribution within a computational region …


Self Consistent Model Of The Glow Discharge, Hao Chen Apr 1988

Self Consistent Model Of The Glow Discharge, Hao Chen

Electrical & Computer Engineering Theses & Dissertations

The strong spatial variation of the electric field intensity in the vicinity of the cathode of a gas discharge requires the use of microscopic methods to describe the nonequilibrium behavior of the electron dynamics in this region. A one-dimensional Monte Carlo code was developed. It allows one to obtain the distribution of the electron drift velocity and rate coefficients for a given electric field intensity in the cathode fall. The results of this calculation are used to find the density distribution of charged particles in this region and consequently, by means of Poisson's equation, a corrected electric field intensity. In …


The Effect Of Elastic Boundary Conditions On The Dynamic Response Of Rectangular Plates, Terry K. Brewer Apr 1988

The Effect Of Elastic Boundary Conditions On The Dynamic Response Of Rectangular Plates, Terry K. Brewer

Mechanical & Aerospace Engineering Theses & Dissertations

Natural frequencies and forced steady-state harmonic response for the vibration of uniform rectangular plates with edges elastically restrained against rotation and transverse translation are addressed. A single mode Rayleigh-Ritz solution is derived using functions that describe the normal modes of vibration of a beam whose ends are elastically restrained. The finite element solution is obtained for comparison. MACSYMA symbolic manipulation system is implemented as an aid to the mathematical rigor of the Ritz approach and NASTRAN finite element code is used to model the mechanical system. Comparisons are made to published results and the solutions of this study are found …


Low Pressure Gas Flow Analysis Through An Effusive Inlet Using Mass Spectrometry, David Robert Brown Apr 1988

Low Pressure Gas Flow Analysis Through An Effusive Inlet Using Mass Spectrometry, David Robert Brown

Chemistry & Biochemistry Theses & Dissertations

A mass spectrometric method for analyzing flow past and through an effusive inlet designed for use on the tethered satellite and other entering vehicles is discussed. Source stream concentrations of species in a gaseous mixture are determined using a calibration of measured mass spectral intensities versus source stream pressure for standard gas mixtures and pure gases. Concentrations are shown to be accurate within experimental error. Theoretical explanations for observed mass discrimination effects as they relate to the various flow situations in the effusive inlet and the experimental apparatus are discussed.


Use Of 52Cr For The Quantitative Determination Of Red Cell Volume, Claude Michael Hanbury Apr 1988

Use Of 52Cr For The Quantitative Determination Of Red Cell Volume, Claude Michael Hanbury

Chemistry & Biochemistry Theses & Dissertations

Chromium-52 has recently been suggested for use as a new agent to label red cells for the in vivo quantitation of red cell volume (1). In this paper, the development and validation of a routine 52cr labeling procedure is described.

The accuracy, precision, and detection limits of chromium analysis by Zeeman effect atomic absorption spectroscopy was evaluated in the concentration range of 1 - 10 ug Cr/L.

Red cell chromium uptake was evaluated as a function of time, temperature, and concentration. Red cells labeled with a 2.5 mg/L chromium solution for 30 minutes at room temperature exhibited optimal label …


Reactions Of Aqueous Chlorine In The Gastric Fluid Of The Rat, Michael Gary Nickelsen Apr 1988

Reactions Of Aqueous Chlorine In The Gastric Fluid Of The Rat, Michael Gary Nickelsen

Chemistry & Biochemistry Theses & Dissertations

Gastric fluid was recovered from Sprague-Dawley rats that had been fasted for 24 hr or 48 hr and administered 4 mL deionized water. The protein, carbohydrate and chloride ion content of the gastric fluid was determined.

When gastric fluid is chlorinated with radiolabeled chlorine to concentrations between 323 and 375 mg/L, analyzed by high performance chromatography followed by liquid scintillation counting, as much as 59% of the radiolabeled chlorine was associated with organic components of the gastric fluid.

Model studies with the aromatic amino acids and the protein pepsin showed the formation of chlorinated analogs. Two chlorinated amino acid derivatives …


Large Planar Maneuvers For Articulated Flexible Manipulators, Li-Farn Yang Apr 1988

Large Planar Maneuvers For Articulated Flexible Manipulators, Li-Farn Yang

Mechanical & Aerospace Engineering Theses & Dissertations

An articulated flexible manipulator carried on a translational cart is maneuvered by an active controller to perform certain position control tasks. The nonlinear dynamics of the articulated flexible manipulator are derived and a transformation matrix is formulated to localize the nonlinearities within the inertia matrix. Then a feedback linearization scheme is introduced to linearize the dynamic equations for controller design. Through a pole placement technique, a robust controller design is obtained by properly assigning a set of closed loop desired eigenvalues to meet performance requirements. Numerical simulations for the articulated flexible manipulators are given to demonstrate the feasibility and effectiveness …