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A Detailed Analysis Of Dynamic Robotic Simulation, Lonnie J. Love

Mechanical & Aerospace Engineering Theses & Dissertations

Future space missions may require the utilization of automation technology for assembly, maintenance, repair, and a variety of repetitive or hazardous operations. Many tasks which are likely candidates for robotic or telerobotic execution are either difficult or impossible to duplicate in the laboratory. With an accurate simulation package, many of these tasks can be evaluated by computer simulation before committing the resources required for laboratory experimentation. With this motivation, the ROBSIM robot simulation software has been developed by NASA Langley Research Center in conjunction with the Martin Marietta Corporation. ROBSIM is a versatile tool with features including the ability to …

Radiative Interactions In Laminar Duct Flows, Prakash A. Trivedi

Mechanical & Aerospace Engineering Theses & Dissertations

Analyses and numerical procedures are presented for infrared radiative energy transfer in gases when other modes of energy transfer occur simultaneously. Two types of geometries are considered, a Parallel Plate Duct and a Circular Duct. Fully developed laminar incompressible flows of absorbing-emitting species in black surfaced ducts are considered under the conditions of uniform wall heat flux. The participating species considered are OH, CO, CO₂, and H₂O. Nongray as well as gray formulations are developed for both geometries. Appropriate limiting solutions of the governing equations are obtained and conduction-radiation interaction parameters are evaluated. Tien and Lowder's …

Boundary Value Problems In Elasticity And Thermoelasticity, Stuart Davidson

Mathematics & Statistics Theses & Dissertations

In this dissertation the author solves a series of mixed boundary value problems arising from crack problems in elasticity and thermoelasticity. Using integral transform techniques and separation of variables appropriately, it is shown that the solutions can be found by solving a corresponding set of triple or dual integral equations in some instances, while in others the solutions of triple or dual series relations are required. These in turn reduce to various singular integral equations which are solved in closed form, in two cases, or by numerical methods. The stress intensity factors at the crack tips, the physical parameters of …

Experimental Studies Of Bulk Optically Controlled Gaas Switches Utilizing Fast Infrared Quenching, Michael S. Mazzola

Electrical & Computer Engineering Theses & Dissertations

This dissertation describes some of the properties of copper-compensated, silicon-doped GaAs (Cu:Si:GaAs) with the purpose of demonstrating the feasibility of the Bulk Optically Controlled Switch (BOSS) concept. The BOSS concept involves the excitation of electrons or holes from selected deep centers in the band gap of a bulk Cu:Si:GaAs photoconductor. The conductivity of the Cu:Si:GaAs crystal can be increased or decreased on command by irradiating the crystal with laser light of different wavelengths in the infrared. Photoconductivities as large as 1 (Ω cm^)-1 were measured to persist for microseconds after illumination by a 7 ns laser pulse with wavelength …

Analysis And Development Of A Switched Capacitor Power Supply, John Richard Hackworth

Electrical & Computer Engineering Theses & Dissertations

The combination of a switched capacitor network and switching power supply techniques can result in a transformer less regulated DC power supply that is small, relatively simple, and efficient. In addition, the output of such a system could be operated over a wide range of common mode voltages. Multiple switched capacitor supplies could be stacked to achieve voltage multiplication.

Although the output of a system of this type is a continuous function, the internal operation must be analyzed in finite time elements. This numerical analysis will be shown in both a mathematical approach and a computer model.

Hydrogenation Effects On Trap Related Conduction In Diamond, Linwood Cleveland Watkins Iii

Electrical & Computer Engineering Theses & Dissertations

In this research work, the results of an experimental investigation on the electrical conduction mechanism in type Ιa and Ilb diamonds are presented. These results are compared with those of previous theoretical studies. The basic physical properties of diamond are discussed. Details of ohmic contact formation on diamond are presented.

The current-voltage characteristics revealed the presence of traps located below the Fermi level. The unfilled trap density was determined. The deep traps were further studied using spectroscopic photoconductivity measurements and the trap energy levels were determined.

The effects of hydrogenation on trap related conduction were studied subsequently. Hydrogenation was carried …

Eigensensitivity Analysis For Space Structures With Applications In Design Optimization, Sean Patrick Kenny

Mechanical & Aerospace Engineering Theses & Dissertations

Eigensensitivity analysis is concerned with the rates of changes of eigenvalues and eigenvectors with respect to design variables. Eigensolutions of space structures are found to display four distinct characteristics, three of which are related to various types of repeated eigenvalues. This study will address three cases of the real symmetric structural eigenvalue problem. The three cases that will be considered are: distinct eigenvalues, repeated eigenvalues with distinct first eigenvalue derivatives, and repeated eigenvalues with infinitely repeating eigenvalue derivatives. Analytic formulations for eigenvalue/ vector derivatives will be presented for each of the three cases. The directional differentiability of eigenvalues for the …

The Influence Of Payload Dynamics On Trajectory Tracking Performance Of Robot Manipulator, Atul G. Kelkar

Mechanical & Aerospace Engineering Theses & Dissertations

Future space mission plans call for extensive use of remote manipulator systems for tasks such as assembly of lunar vehicles or space station modules, servicing of satellites, etc. These tasks demand very high precision end-effector motion control. Methods for compensating manipulator dynamics to achieve better trajectory tracking performance have been investigated by many researchers. Still, it is not always clear whether the added complexity of dynamic compensation is warranted for a given system. As an aid in evaluating when dynamic compensation is required, this thesis presents a method for the determination of maximum endpoint tracking error due to uncompensated inertial …

A Systematic Procedure For The Analysis And Design Of Deployable Space Structures, Praveen Kumar

Mechanical & Aerospace Engineering Theses & Dissertations

An integrated graph theory and a symmetry-based approach have been developed for the type synthesis of deployable truss structures. Using this systematic approach, a bay of a deployable structure may be looked upon as being built around an axis or a plane of symmetry, including anti-symmetry. By providing a fictitious joint along this axis, the problem of structural design and analysis can be reduced to the study of one plane or face of the given structure. Each face is considered to be an assemblage of structural links connected by joints which form a closed kinematic chain. The conventional graph representation …

Nonproportionally Loaded Steel Beam-Columns And Flexibly-Connected Nonsway Frames, Siva Prasad Darbhamulla

Civil & Environmental Engineering Theses & Dissertations

A theoretical study of the inelastic stability of nonproportionally loaded steel beam-columns and flexibly-connected frames is conducted. Specifically, solution techniques are formulated to predict the nonlinear behavior of cross sections, spatial beam-columns, and nonsway plane frames under the combined influence of imperfections, flexible connections, and nonproportional loads. A set of new inelastic slope-deflection equations for imperfect members are derived and their use illustrated through in-depth studies of flexibly-connected portal and two-bay two-story frames. These equations are derived from a system of nonlinear ordinary differential equations. The member studies are carried out using a second-order finite-difference solution to a set of …

A Case Study In The Development Of A Cost Reduction Methodology In The Public Sector, Ross Cooper Haines

Engineering Management & Systems Engineering Theses & Dissertations

Intense fiscal pressures have caused the Department of Defense (DoD) to explore new ways of reducing operating expenses. The primary technique used to achieve this objective is the use of competition - recently for maintenance requirements not previously subjected to competition. One such maintenance requirement is the periodic overhaul of one of the Navy's front line fighter aircraft - the F-14A Tomcat. This case study documents the cost reduction methodology developed by the DoD's incumbent overhaul facility in preparation for competition. The methodology discusses task time estimation, cost center structure, labor rate development and analysis, internal cost transfers as well …

A Model Of Dc Glow Discharges With Abnormal Cathode Fall, Karl H. Schoenbach, Hao Chen, G. Schaefer

Bioelectrics Publications

A model for an abnormal glow discharge, including a self‐consistent analysis of the cathode fall, was developed. It combines microscopic particle simulation by means of Monte Carlo methods with a fluid model of the gas discharge. The model allows calculations of the steady‐state electrical field distribution, the charged‐particle densities, and the current densities along the axis of the discharge. The model was used to simulate a glow discharge in 80% He and 20% SF₆ at a pressure of 8 Torr with a current density of 1 A/cm². The computed discharge voltage agrees well with measured values. The …

Electrical Properties Of Hydrogenated Diamond, Sacharia Albin, Linwood Watkins

Electrical & Computer Engineering Faculty Publications

Hydrogen passivation of deep traps in diamond is demonstrated. Current‐voltage (I‐V) characteristics of polycrystalline thin film and bulk diamond were studied before and after hydrogenation. On hydrogenation, all the samples showed several orders of magnitude increase in conductivity. Hydrogenation was carried out under controlled conditions to study the changes in the I‐V characteristics of the samples. The concentration of uncompensated traps was varied systematically by hydrogenation. The concentration of electrically active hydrogen was determined from the I‐V data. It is shown that hydrogenation is an alternative to deep‐level transient spectroscopy, suitable for …

Influence Of Copper Doping On The Performance Of Optically Controlled Gaas Switches, St. T. Ko, V. K. Lakdawala, K. H. Schoenbach, M. S. Mazzola

Electrical & Computer Engineering Faculty Publications

The influence of the copper concentration in silicon-doped gallium arsenide on the photoionization and photoquenching of charge carriers was studied both experimentally and theoretically. The studies indicate that the compensation ratio (N_Cu/N_Si) is an important parameter for the GaAs:Si:Cu switch systems with regard to the turn-on and turn-off performance. The optimum copper concentration for the use of GaAs:Si:Cu as an optically controlled closing and opening switch is determined.

Performance Improvements For Fddi And Csma/Cd Protocols, David Earl Game

Computer Science Theses & Dissertations

The High-Performance Computing Initiative from the White House Office of Science and Technology Policy has defined 20 major challenges in science and engineering which are dependent on the solutions to a number of high-performance computing problems. One of the major areas of focus of this initiative is the development of gigabit rate networks to be used in environments such as the space station or a National Research and Educational Network (NREN).

The strategy here is to use existing network designs as building blocks for achieving higher rates, with the ultimate goal being a gigabit rate network. Two strategies which contribute …

The American Influence On The Mindanao Resistance During The Second World War, Michael Anthony Balis

History Theses & Dissertations

This thesis examines the American participation in the development of resistance against the Japanese on Mindanao Island in the Philippines, 1942-1945. Americans directed the overall resistance movement and commanded most of the provinces. As leaders Americans played a key role in the evolution of the resistance from an independent guerrilla force to a partisan force that gave U.S. forces combat and intelligence assistance. The most important information for the thesis came from the MacArthur Archives, the Hayden Papers at the University of Michigan, the U.S. Army Military History Institute at Carlisle Barracks, and correspondence with 14 men who served with …

A Generalization Of Linear Multistep Methods, Leon Arriola

Mathematics & Statistics Theses & Dissertations

A generalization of the methods that are currently available to solve systems of ordinary differential equations is made. This generalization is made by constructing linear multistep methods from an arbitrary set of monotone interpolating and approximating functions. Local truncation error estimates as well as stability analysis is given. Specifically, the class of linear multistep methods of the Adams and BDF type are discussed.

Pipelining Data Compression Algorithms, R. L. Bailey, R. Mukkamala

Computer Science Faculty Publications

Many different data compression techniques currently exist. Each has its own advantages and disadvantages. Combining (pipelining) multiple data compression techniques could achieve better compression rates than is possible with either technique individually. This paper proposes a pipelining technique and investigates the characteristics of two example pipelining algorithms. Their performance is compared with other well-known compression techniques.

Efficient Schemes To Evaluate Transaction Performance In Distributed Database Systems, R. Mukkamala, S. C. Bruell

Computer Science Faculty Publications

Database designers and researchers often need efficient schemes to evaluate transaction performance. In this paper, we chose two important performance measures: the average number of nodes accessed and the average number of data items accessed per node by a transaction in a distributed database system. We derive analytical expressions to evaluate these metrics. For general applicability, we consider partially replicated distributed database systems. Our first set of analytic results are closed-form expressions for these two measures. These are based on some fairly restrictive simplifying assumptions. When these assumptions are relaxed, no closed-form expressions exist for these averages. Hence, we develop …

Laureate, 1990, Old Dominion University

University Yearbooks

1990 yearbook of Old Dominion University

Measurement Of Magnetic Fluctuations By O-X Mode Conversion, L. L. Vahala, G. Vahala, N. Bretz

Electrical & Computer Engineering Faculty Publications

The possibility of measuring magnetic fluctuations in a fusion plasma is considered by examining the O→X mode conversion. Under certain conditions and with good angular resolution, this mode conversion can be attributed to the presence of magnetic fluctuations even though the level of these fluctuations is much lower than that of density fluctuations. Some nonideal effects such as mode polarization mismatch at the plasma edge are also discussed.

Application Of The Results Of Carbon Pellet Modeling To The Problem Of Plasma Penetration, L. L. Vahala, A. G. El Cashlan, G. A. Gerdin, P. B. Parks

Electrical & Computer Engineering Faculty Publications

The assumptions of the evaporation model for low-Z pellets interacting with magnetic fusion plasmas developed by Parks are tested. These assumptions are that the vapor density profile in the region adjacent to the pellet surface falls off with radial distance as r^-α , where 5 <α<6, and that the ionization time for the transition between charge states ז_f (i.e., for r < ~3 sonic radii). The first assumption is tested by solving a two-parameter eigenvalue problem for the evaporation cloud in the region interior to the sonic radius; the results are found to be consistent with the low-Z evaporation model. The second assumption, that ז_zi «ז_f, is tested at the sonic radius using the results from atomic physics and the low-Z evaporation model. It is found that indeed ז_zi «ז_f for plasmas with parameters close to thermonuclear conditions (e.g. CIT), but not for those of smaller Tokamaks such as …

Effect Of Passive Flow-Control Devices On Turbulent Low-Speed Base Flow, Farid Heidari Miandoab

Mechanical & Aerospace Engineering Theses & Dissertations

Some configurations of blunt trailing-edge airfoils are known to have a lower pressure drag compared to sharp trailing-edge airfoils. However, this advantage in addition to the structural advantage of a thick trailing-edge airfoil is offset by its high base drag. At subsonic velocities, this is attributed to the low-pressure base flow dominated by a Karman vortex street. In the limiting case, the steady separated flow over a rearward-facing step is attained if the periodically shed vortices from a blunt trailing-edge are suppressed by the addition of a base splitter-plate.

Experimental studies in the Old Dominion University low-speed closed-circuit wind tunnel …

Middle Eocene Foraminifera From The Piney Point Formation Of The Virginia And Maryland Coastal Plain, Megan S. Jones

OES Theses and Dissertations

This study examines the foraminiferal fauna, both benthic and planktonic, of the outcropping (45 samples) and subsurface (31 samples) middle Eocene Piney Point Formation in Virginia and Maryland. The primary objective of this study is to further refine the depositional history of the Salisbury Embayment which is represented by the middle Eocene Piney Point Formation. Ninety-six species of benthic and planktonic foraminifera were identified in this study. Of these, several are characteristic of the middle Eocene: Asterigerina texana, Hanzawaia danvillensis, Ceratobulimina exima, Cibicides westi, Chiloguembelitria columbiana, C. stavensis, Testacarinata inconspicua and Pseudohastigerina wilcoxensislmicra. While these were relatively abundant, diagnostic middle …

An Extension Of Essentially Non-Oscillatory Shock-Capturing Schemes To Multi-Dimensional Systems Of Conservation Laws, Jay Casper

Mathematics & Statistics Theses & Dissertations

In recent years, a class of numerical schemes for solving hyperbolic partial differential equations has been developed which generalizes the first-order method of Godunov to arbitrary order of accuracy. High-order accuracy is obtained, wherever the solution is smooth, by an essentially non-oscillatory (ENO) piecewise polynomial reconstruction procedure, which yields high-order pointwise information from the cell averages of the solution at a given point in time. When applied to piecewise smooth initial data, this reconstruction enables a flux computation that provides a time update of the solution which is of high-order accuracy, wherever the function is smooth, and avoids a Gibbs …

A Study Of The Uses Of Expert Systems In The Training Environment, Edward Patrick Kappes

OTS Master's Level Projects & Papers

The objectives of this study were: 1. to determine if expert systems can be useful in the training environment; 2. to show the types of training that expert systems can assist in solving; 3. to review the available literature to determine the applications of expert systems in the training environment.

A Study To Determine The Effects Of Lengthy Space Exposure On Tomato Seeds And Plants, Daniel Robert Smith

OTS Master's Level Projects & Papers

Through the analysis of the data collected from the identical planting techniques of the flight seeds verses the control seeds, the following hypothesis was considered: H1-the tomato seeds of the SEEDS program will produce genetically altered mutant plants.

The 93rd Division: A Victim Of Domestic Politics, 1938-1945, Robert F. Jefferson

History Theses & Dissertations

The 93rd Division was an all-Negro unit that served in World War II. The formation and deployment of the unit was not planned but was the result of the Roosevelt Administration's susceptibility to domestic pressure during World War II. The War Department's lack of a comprehensive policy concerning Negro troops led to the Company K debacle of 1944 which reduced the unit to a combat support role for the remainder of the Pacific war effort. Furthermore, the outfit's failures forced the Army to reassess its racial policies in the postwar era.

This study examines the War Department's manpower policies and …

Three American Resistance Leaders In The Philippine Islands During World War Ii, Brian W. Mclean

History Theses & Dissertations

This thesis compares the effectiveness of three Americans who led major guerrilla groups against the Japanese in the Philippine Islands during World War II. It is limited to Wendell Fertig on Mindanao, James Cushing on Cebu, and Russell Volckmann on Luzon. Previous works addressed only individual leaders; this thesis compares different leaders.

The thesis concludes that although differences did exist in how each individual officer rose to command, all three were effective in leading resistance efforts against the Japanese. The greatest differences among them were the amount of support they received from MacArthur's General Headquarters Southwest Pacific Area (GHQ SWPA) …

A Geophysical Study Of The Easternmost Piedmont: Brunswick County, Virginia, Mark A. Corbin

OES Theses and Dissertations

Gravity and magnetic models indicate that a steeply dipping, mylonitic shear zone recognized by reconnaissance mapping in the easternmost Piedmont of Brunswick County, Virginia is a listric fault. A pronounced 3 to 5 mgal Bouguer anomaly high is associated with the fault zone. A band of N10° trending aeromagnetic anomalies delineate the areal extent of the fault zone. The fault zone flattens eastward over a short distance to a depth of 15 kms where it joins a near horizontal surface that cuts across the region. This surface is herein interpreted to be a decollement. The fault zone of this study …