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Full-Text Articles in Engineering

Data-Driven And Cell-Specific Determination Of Nuclei-Associated Actin Structure, Nina Nikitina, Nurbanu Bursa, Matthew Goelzer, Madison Goldfeldt, Chase Crandall, Sean Howard, Janet Rubin, Anamaria Zavala, Aykut Satici, Gunes Uzer May 2024

Data-Driven And Cell-Specific Determination Of Nuclei-Associated Actin Structure, Nina Nikitina, Nurbanu Bursa, Matthew Goelzer, Madison Goldfeldt, Chase Crandall, Sean Howard, Janet Rubin, Anamaria Zavala, Aykut Satici, Gunes Uzer

Mechanical and Biomedical Engineering Faculty Publications and Presentations

Quantitative volumetric assessment of filamentous actin (F-actin) fibers remains challenging due to their interconnected nature, leading researchers to utilize threshold-based or qualitative measurement methods with poor reproducibility. Herein, a novel machine learning-based methodology is introduced for accurate quantification and reconstruction of nuclei-associated F-actin. Utilizing a convolutional neural network (CNN), actin filaments and nuclei from 3D confocal microscopy images are segmented and then each fiber is reconstructed by connecting intersecting contours on cross-sectional slices. This allows measurement of the total number of actin filaments and individual actin filament length and volume in a reproducible fashion. Focusing on the role of F-actin …


Rasc-Al Large Scale Lunar Crater Prospector, Austin Arnold, Coleman Alvarez, Mark Suberu May 2024

Rasc-Al Large Scale Lunar Crater Prospector, Austin Arnold, Coleman Alvarez, Mark Suberu

Senior Design Project For Engineers

The purpose of this project is to design a conceptual layout of a lunar rover capable of exploring craters at the lunar south pole. The rover should be autonomous and capable of self-sustainment for at least one year in extreme cold and darkness. While determining the location and accessibility of water ice and other volatiles within the crater. This document will contain all information related to the team's conceptual design. Including research, component selection, electrical design, and mechanical design.

Lunar Rascals Video: https://www.youtube.com/watch?v=MdcjzVMtzaI


Modeling Vibration Stiffness: An Analytical Extension Of Hertzian Theory For Angular Contact Bearings With A Thin Viscoelastic Coating, Davis R. Burton May 2024

Modeling Vibration Stiffness: An Analytical Extension Of Hertzian Theory For Angular Contact Bearings With A Thin Viscoelastic Coating, Davis R. Burton

Honors Theses

This thesis considers the novel angular contact rolling-element bearings proposed by NASA’s Glenn Research Center, which are coated with a thin solid lubricant that exhibits viscoelastic behavior. Current analytical models for the dynamic stiffness matrix of angular contact bearings, critical for vibration analysis, lack the ability to model the effects of a solid coating, as well as the time dependencies inherent in viscoelastic theory. The author first presents an overview of the stiffness matrix derivation, followed by a treatment of the underlying Hertzian contact theory. An analytical extension of this theory is proposed which accounts for a thin elastic layer …


Development, Modeling, Identification, And Control Of Tilt-Rotor Evtol Aircraft, Clayton T. Spencer May 2024

Development, Modeling, Identification, And Control Of Tilt-Rotor Evtol Aircraft, Clayton T. Spencer

All Graduate Theses and Dissertations, Fall 2023 to Present

This thesis includes the development, modeling, identification, and control of an electric-Vertical-Take-Off-and-Landing (eVTOL) aircraft with tiltable rotors. The front two rotors have tilting capability for transition flight from vertical-take-off to forward-level flight. This work details the development of an eVTOL aircraft and the selection of sub components such as electric motors, batteries, and controllers. After the aircraft build, mathematical model is derived to describe the motion of the aircraft. Unknown parameters in the mathematical model are identified using a Least-Squares-regression (LSR) method that can handle parameter constraints. This is done using real flight data collected from the aircraft. Lastly, this …


Test And Evaluation Model For Midwater Docking Of Autonomous Underwater Vehicles, Parker Baillon May 2024

Test And Evaluation Model For Midwater Docking Of Autonomous Underwater Vehicles, Parker Baillon

Theses and Dissertations

This research created a Test and Evaluation (T&E) model for midwater Autonomous Underwater Vehicle (AUV) capture. The creation of this model will allow for a better assessment of the feasibility of midwater AUV capture. To achieve this, the T&E model was exposed to various flow conditions to assess stability. Capturing an AUV in midwater, the area below the wave-affected zone to the sea floor, has many benefits for an AUV and its mission. AUVs basing missions from a midwater dock will not be affected by wave motions. A midwater dock can be transported to any mission site and deployed with …


Summonable Construction Delivery Robot, Kevin M. Lewis May 2024

Summonable Construction Delivery Robot, Kevin M. Lewis

Honors Capstones

In many different construction industries, there is a need for tools, parts, and other necessary items to be transported quickly and efficiently over various types of terrain. Human resources have often been used to address these needs, which can become very time and cost inefficient over long periods. The design proposal here is aimed at addressing this need by developing an autonomous outdoor mobile robot based on a quadrupedal robot design. This approach differs by incorporating a wheeled and quadrupedal hybrid actuation system that provides terrain negotiation and speed at the appropriate times. The team uses Robot Operating System (ROS) …


The Effect Of Extended Saltwater Absorption And Uv Cure On The Compressive Properties Of Msla 3d-Printed Photopolymer Resin Samples With Printing Variations, Suzanne Dixon May 2024

The Effect Of Extended Saltwater Absorption And Uv Cure On The Compressive Properties Of Msla 3d-Printed Photopolymer Resin Samples With Printing Variations, Suzanne Dixon

Theses and Dissertations

Liquid Crystal Display (LCD) 3D printers, also known as Masked Stereolithography Apparatus (MSLA), is a type of vat polymerization printing technique that cures liquid resin into a solid object. This technique is relatively new. Consequently, there is a shortage of detailed research on the impact of long-term environmental exposure on the MSLA-printed materials. The research within this document informs engineers and scientists of resin compressive properties after extended exposure to saltwater and ultraviolet (UV) light. Saltwater absorption of the material was analyzed at atmospheric pressure, 30-psi, 60-psi, and 90-psi; the samples reached saturation in saltwater after 56 days. The variation …


Experimental And Numerical Investigation Of Air-Cooled Heat Sinks, Ethan Weems May 2024

Experimental And Numerical Investigation Of Air-Cooled Heat Sinks, Ethan Weems

Mechanical Engineering Undergraduate Honors Theses

Lightweight and affordable cooling capabilities are critical as the physical scale of electronics continues to decrease. Air-cooled heat sinks that dissipate heat from electronic components to the surrounding air are excellent candidates to fill this role. While plate-fin and pin-fin heat sinks have been implemented extensively for electronic cooling, recent advances in additive manufacturing enable the fabrication of more complex structures. In this undergraduate Honors thesis, a means by which to generate novel heat sink geometries is presented. To that end, an experimental characterization facility is developed to evaluate existing traditional heat sinks. The heat transfer performance of the heat …


Comparative Analysis Of Command Protocols For Cubesat Data Handling Systems, Roman Dowling May 2024

Comparative Analysis Of Command Protocols For Cubesat Data Handling Systems, Roman Dowling

Mechanical Engineering Undergraduate Honors Theses

Researchers at the University of Arkansas developed ARKSAT-1, a cubic satellite with the purpose of employing an LED with a tracking system to perform spectroscopic measurements of the atmosphere.

The control board of the satellite contained several microcontrollers which worked in concert to collect and manage data. Discussed in this report are the software programs developed for the microcontrollers, dual Arduino MKRZeros, utilized as data repositories and for control of satellite peripherals. The programs discussed in this project include an original existing command-response protocol and an improved batch-command protocol, each with its accompanying data handling and storage system. These programs …


Improved Ballistic Impact Resistance Of Nanofibrillar Cellulose Films With Discontinuous Fibrous Bouligand Architecture, Colby Caviness May 2024

Improved Ballistic Impact Resistance Of Nanofibrillar Cellulose Films With Discontinuous Fibrous Bouligand Architecture, Colby Caviness

All Theses

Natural protective materials offer unparalleled solutions for impact-resistant material designs that are simultaneously lightweight, strong, and tough. Particularly, the dactyl club of mantis shrimp features chitin nanofibrils organized in a Bouligand structure, which has been shown to effectively dissipate high-impact energy during powerful strikes. The mollusk shells also achieve excellent mechanical strength, toughness, and impact resistance with a staggered, layer-by-layer structure. Previous studies have shown that hybrid designs, by combining different bioinspired microstructures, can lead to enhanced mechanical strength and energy dissipation capabilities. Nevertheless, it remains unknown whether combining Bouligand and staggered structures in nanofibrillar cellulose (NFC) films, forming a …


Spatial Hearing In Simulated Reverberant Classroom Environments, Gabriel Seth Evan Weeldreyer May 2024

Spatial Hearing In Simulated Reverberant Classroom Environments, Gabriel Seth Evan Weeldreyer

Durham School of Architectural Engineering and Construction: Dissertations, Thesis, and Student Research

Spatial hearing provides access to auditory spatial cues that promote speech perception in noisy listening situations. However, reverberation degrades auditory spatial cues and limits listeners’ ability to utilize these cues for segregating target speech from competing babble. Hence, spatial unmasking—an intelligibility benefit from a spatial separation between a target and masker—is reduced in reverberant environments as compared to free field. This work tests the hypothesis that interaural decorrelation, the result of increasing reverberation, will broaden the perceived auditory source width with a cascading effect of reduced auditory spatial acuity and subsequently poorer spatial unmasking. To understand the perceptual consequences of …


Experimental And Numerical Analysis Of Laminar And Transitional Flow Through Annular Corrugated Pipes, Joseph Russell Sargent May 2024

Experimental And Numerical Analysis Of Laminar And Transitional Flow Through Annular Corrugated Pipes, Joseph Russell Sargent

Theses and Dissertations

This dissertation presents studies on pressure loss through annular corrugated pipes to determine a friction factor coefficient using nitrogen. Ten different corrugated pipes’ geometries were evaluated via testing and experimentation. The ratio of corrugation height to inner diameter varied from 0.233 to 0.333 and the ratio of corrugation pitch to inner diameter varied from 0.181 to 0.446. Nitrogen flow rates between 0.25 to 94.4 standard liters per minute were used, resulting in Reynolds numbers, based on the corrugated pipe inner diameter, from 100 to 23,000. The experimental set-up was validated using smooth-pipe pressure loss measurements and the derived friction factor …


Computational Fluid Dynamics Study Of Perforated Monopiles, Mary Kathryn Walker May 2024

Computational Fluid Dynamics Study Of Perforated Monopiles, Mary Kathryn Walker

Theses and Dissertations

Monopiles are used in the construction of offshore wind turbines and typically have a design life of 25 to 50 years. Over their lifecycle, monopiles are exposed to a corrosive saltwater environment, facilitating a galvanic oxidation process that quickly degrades the structure. This process can be mitigated by coating the monopile in a protective barrier and implementing cathodic protection techniques. Historically, monopile designers assumed the interior of the pile would be completely sealed and the galvanic corrosion process would eventually consume all the available oxygen, halting the reaction. However, penetrations made in the pile wall for conduit often leaked and …


Evaluation Of Beach-Fx — Beach Nourishment Planning Model – Miami Beach Case Study, Brennan Chase Banks May 2024

Evaluation Of Beach-Fx — Beach Nourishment Planning Model – Miami Beach Case Study, Brennan Chase Banks

Theses and Dissertations

Miami Beach, located on the Southeast coast of Florida, is a concerning location for coastal erosion because of the increasing intensity and frequency of tropical storms, nuisance flooding, and accelerated sea-level rise due to climate change. Miami Beach is famous for its beautiful beaches, making it a location of high interest for tourists, citizens, and investors. It is vital for coastal practitioners to accurately model coastal processes, beach evolution, and storm damage during the planning stage of coastal protection projects. The U.S. Army Corps of Engineers developed the Beach-fx model as a tool for engineers, planners, and economists to …


Quantifying Hurricane Effects On Housing: Evaluating Damage, Loss, And Shelter Demands Using Historical And Simulated Storm Tracks, Adish Deep Shakya May 2024

Quantifying Hurricane Effects On Housing: Evaluating Damage, Loss, And Shelter Demands Using Historical And Simulated Storm Tracks, Adish Deep Shakya

All Theses

This research introduces an advanced framework which employs parametric wind field models for peak wind speeds, and building fragility curves, loss functions, and demographic data to estimate for estimating housing damage and loss. The uninhabitable units immediate displaced households, short-term and long-term shelter need households are determined. with a particular focus on those eligible for FEMA assistance. The framework's validity is reinforced by a high correlation in the analysis of recent hurricane events between estimated numbers of displaced households and actual FEMA aid recipients, where FEMA aids about 20-60% of the predicted long-term displaced households. A novel application of the …


Digital Twin In Military Ground Vehicles: Design And Predictive Maintenance, Conner W. Eddy May 2024

Digital Twin In Military Ground Vehicles: Design And Predictive Maintenance, Conner W. Eddy

All Theses

Digital twin technology builds upon virtual engineering models, computer simulation, and real-time field data streaming to enable next-generation designs and predictive maintenance. A digital twin is a computer-based high-fidelity collection of models that predicts the performance of dynamic systems per operating cycles, input feature parameters, and data communication from a physical plant. Product Lifecycle Management (PLM) is growing in importance and is central to virtual design processes where the digital twin toolset fits into this emerging architecture. The product design process can be advanced using digital twin resources by eliminating the need for, and cost from, continual physical prototyping, reliability …


Novel Vector Assignment Approach For Inherent Strain Modeling Of Laser Powder Bed Fusion Manufacturing, Lucas M. Morand May 2024

Novel Vector Assignment Approach For Inherent Strain Modeling Of Laser Powder Bed Fusion Manufacturing, Lucas M. Morand

All Dissertations

The expansion of the design space due to additive manufacturing (AM) has been a large motivator for the success of this family of processes. Despite the complexity of the physics in metal laser powder bed fusion AM causing significant stresses and strains in finished parts, the design advantages and subsequent performance improvements continue to drive the expansion of AM. Because the trial-and-error approach to AM part development is cost prohibitive, simulation of prints has become crucial. However, full thermo-mechanical simulation is susceptible to the same pitfall of time and computational cost in order to attain part-scale results. The development of …


Oscillations Of Capillary Surfaces With Volume And Edge Effects, Dingqian Ding May 2024

Oscillations Of Capillary Surfaces With Volume And Edge Effects, Dingqian Ding

All Dissertations

Capillary surfaces are defined by an interface endowed with surface tension that is partially supported by a solid substrate and are susceptible to oscillations reflecting a balance between fluid inertia and the restorative force of surface tension. The wave dynamics strongly depend upon volume change within the domain and edge effects through the boundary conditions applied at the contact-line formed at the liquid-gas-solid interface, while the spatial wave structure conforms to the geometry of the capillary surface. This dissertation develops mathematical models to address these effects for several canonical capillary surfaces, which are organized into two parts that are focused …


Numerical Simulation Of Laser Induced Elastic Waves In Response To Short And Ultrashort Laser Pulses., Alireza Zarei May 2024

Numerical Simulation Of Laser Induced Elastic Waves In Response To Short And Ultrashort Laser Pulses., Alireza Zarei

All Dissertations

In an era of intensified market competition, the demand for cost-effective, high-quality, high-performance, and reliable products continues to rise. Meeting this demand necessitates the mass production of premium products through the integration of cutting-edge technologies and advanced materials while ensuring their integrity and safety. In this context, Nondestructive Testing (NDT) techniques emerge as indispensable tools for guaranteeing the integrity, reliability, and safety of products across diverse industries.

Various NDT techniques, including ultrasonic testing, computed tomography, thermography, and acoustic emissions, have long served as cornerstones for inspecting materials and structures. Among these, ultrasonic testing stands out as the most prevalent method, …


Comparative Analysis Of The Effects Of Post Processing On The Flexural Fatigue Endurance Of Additively Manufactured Ti-6al-4v, Cristian Banuelos May 2024

Comparative Analysis Of The Effects Of Post Processing On The Flexural Fatigue Endurance Of Additively Manufactured Ti-6al-4v, Cristian Banuelos

Open Access Theses & Dissertations

This study delves into analyzing the effects of various machining techniques on the flexural fatigue life of Ti-6Al-4V L-PBF specimens. The fatigue life and fracture behavior of specimens subjected to milling, grinding, polishing, and abrasive media blasting were compared. The findings reveal significant differences in the fatigue resistance between machined and non-machined parts. This study contributes to the understanding of the effects of post-processing on the durability of L-PBF manufactured components, offering insights for enhancing their application in critical aerospace and biomedical applications.


Prediction Modeling Of Foreign Object Impact Debris On Aircraft Through Digital Engineering, Luis Eduardo Rodriguez May 2024

Prediction Modeling Of Foreign Object Impact Debris On Aircraft Through Digital Engineering, Luis Eduardo Rodriguez

Open Access Theses & Dissertations

The contribution of the research made is derived into two sections. The first topic discusses the prediction modeling of Foreign Object debris (FOd) impact on aircraft structures through the use of digital engineering. The program used in this project is Ansys Explicit Dynamics to evaluate the stress and strain caused by the initial conditions of flight trajectory and impact created from FOd found inside of aircraft structures. The prediction modeling consists of creating a repetition of simulations with different FOds to evaluate the damage created to subsystems of the wing bay such as the fuel system and internal structures. The …


Advances In Nanofiber Technology For Biomedical Application: A Review, Dipasree Bhowmick, Islam Uddin Shipu May 2024

Advances In Nanofiber Technology For Biomedical Application: A Review, Dipasree Bhowmick, Islam Uddin Shipu

Mechanical Engineering Faculty Publications and Presentations

The application of nanofiber technology in the biomedical field has garnered significant interest due to its potential to revolutionize areas such as tissue engineering, wound healing, and antimicrobial treatments. This paper provides a comprehensive review of the recent advancements in nanofiber technology, particularly focusing on electrospinning and 3D printing methods that enable the fabrication of scaffolds mimicking the native extracellular matrix. These technologies have facilitated the development of nanofibers with high surface-to-volume ratios, adjustable porosity, and enhanced mechanical properties, tailored to meet specific biomedical needs. Despite their promising features, challenges such as the optimization of pore size for effective cell …


Environment And Response Of 3d-Encapsulated Mesenchymal Stem Cells To Mechanical Loading, Augustus Greenwood May 2024

Environment And Response Of 3d-Encapsulated Mesenchymal Stem Cells To Mechanical Loading, Augustus Greenwood

McKelvey School of Engineering Theses & Dissertations

This thesis explores the micromechanical environment induced when cyclically compressing hydrogels via finite element modeling and experimentally on the impact of loading on mesenchymal stem cells (MSCs) when encapsulated withing 3D hydrogel matrices. Degenerative joint diseases, characterized by cartilage degradation, present significant challenges due to cartilage's limited self-repair capacity. Innovative approaches, including stem cell-based therapies and engineered biomaterials, have emerged as promising strategies for cartilage repair and regeneration. This work specifically investigates the calibration of a bioreactor, the uniformity of load response across the hydrogel constructs via finite element modeling (FEM), and the stress response of MSCs subjected to various …


Developing General Purpose Apps To Automate Image Analysis Of Wave-Augmented-Varicose-Explosion Atomization And Other Multi-Phase Interfacial Flows, Ethan Newkirk May 2024

Developing General Purpose Apps To Automate Image Analysis Of Wave-Augmented-Varicose-Explosion Atomization And Other Multi-Phase Interfacial Flows, Ethan Newkirk

Senior Honors Theses

Atomization involves disrupting a flow of contiguous liquid into small droplets ranging from one submicron to several hundred microns (micrometers) in diameter through the processes of exerting sufficient forces that disrupt the retaining surface tensions of the liquid. Understanding this phenomenon requires high-speed imaging from physical models or rigorous multiphase computational fluid dynamics models. We produce a MATLAB application that utilizes various methods of image analysis to quickly analyze and store mathematical data from detailed image analyses. We present a user with numerous tools and capabilities that provide results that deviate from 1.8% to 8.9% of the original image sequence …


Deep Reinforcement Learning Of Variable Impedance Control For Object-Picking Tasks, Akshit Lunia May 2024

Deep Reinforcement Learning Of Variable Impedance Control For Object-Picking Tasks, Akshit Lunia

All Theses

The increasing deployment of robots in industries with varying tasks has accelerated the development of various control frameworks, enabling robots to replace humans in repetitive, exhaustive, and hazardous jobs. One critical aspect is the robots' interaction with their environment, particularly in unknown object-picking tasks, which involve intricate object weight estimations and calculations when lifting objects. In this study, a unique control framework is proposed to modulate the force exerted by a manipulator for lifting an unknown object, eliminating the need for feedback from a force/torque sensor. The framework utilizes a variable impedance controller to generate the required force, and an …


Non-Contact Wind Turbine Blade Crack Detection Using Laser Doppler Vibrometers, Ali Zabihi, Farhood Aghdasi, Chadi Ellouzi, Nand Kishore Singh, Ratneshwar Jha, Chen Shen May 2024

Non-Contact Wind Turbine Blade Crack Detection Using Laser Doppler Vibrometers, Ali Zabihi, Farhood Aghdasi, Chadi Ellouzi, Nand Kishore Singh, Ratneshwar Jha, Chen Shen

Henry M. Rowan College of Engineering Faculty Scholarship

In response to the growing global demand for both energy and a clean environment, there has been an unprecedented rise in the utilization of renewable energy. Wind energy plays a crucial role in striving for carbon neutrality due to its eco-friendly characteristics. Despite its significance, wind energy infrastructure is susceptible to damage from various factors including wind or sea waves, rapidly changing environmental conditions, delamination, crack formation, and structural deterioration over time. This research focuses on investigating non-destructive testing (NDT) of wind turbine blades (WTBs) using approaches based on the vibration of the structures. To this end, WTBs are first …


Blade Design And Validation Of Hydrokinetic Turbine To Harvest Water Current Energy, Setare Sadeqi May 2024

Blade Design And Validation Of Hydrokinetic Turbine To Harvest Water Current Energy, Setare Sadeqi

University of New Orleans Theses and Dissertations

The innovative aspect of this research lies in the careful integration of cutting-edge technologies throughout the entire process of designing, fabricating, and testing the carbon fiber propeller for the 3-bladed horizontal axis ocean current turbine (OCT). SolidWorks software played a pivotal role in the initial design phase, enabling a meticulous and precise modeling of the propeller's geometry. The utilization of SolidWorks allowed for a detailed exploration of various design parameters, ensuring that the propeller's structure and form were optimized for performance in ocean current conditions. Moving beyond the realm of virtual design, the choice of carbon fiber as the fabrication …


Towing Tank Trials Of Hydrokinetic Turbine Scale Model To Support Marine Energy System Verification, Shahab Rouhi May 2024

Towing Tank Trials Of Hydrokinetic Turbine Scale Model To Support Marine Energy System Verification, Shahab Rouhi

University of New Orleans Theses and Dissertations

In response to the escalating demand for sustainable energy solutions and the critical reevaluation of conventional fossil fuels due to environmental concerns, this dissertation embarks on a comprehensive exploration of hydrokinetic energy as a promising alternative. The study delves into the underexplored domain of hydrokinetic energy, leveraging innovative methodologies for effective utilization and harnessing, particularly through the development and investigation of hydrokinetic turbines.

In the realm of hydrokinetic energy conversion, our research has exclusively concentrated on horizontal-axis turbines, distinct from other turbine configurations. Noteworthy is the adaptation of a conventional horizontal-axis wind turbine for water currents, revealing enhanced performance through …


Investigation On The Effects Of Biofouling On The Boundary Layer, Adam N. Bacon May 2024

Investigation On The Effects Of Biofouling On The Boundary Layer, Adam N. Bacon

University of New Orleans Theses and Dissertations

This study is an investigation of the effect of biofouling on the boundary layer of a flat plate and a NACA 4-digit series foil. Three identical hydrofoils made of resin were placed in the Gulf of Mexico at Grand Isle, Louisiana, and observed and analyzed by marine biologists at the University of New Orleans for their species composition. The resulting biofouling that grew was primarily made up of barnacles and bryozoans. The foils were submerged in an open channel flume at zero incidence and subjected to a series of experiments whose arc-length Reynolds numbers ranged from approximately 13000 to 32000. …


Study Of Accidental Sliding-Mode Control, April Mary Miller May 2024

Study Of Accidental Sliding-Mode Control, April Mary Miller

Theses and Dissertations

The objective of this paper is to examine the Quanser SRV-02 motor servo for the presence of an accidental sliding mode. The SRV-02 is used by undergraduate students to learn basic concepts in controls engineering and will display unexpected sliding mode behavior when its in the “out of box” configuration. To gain a strong background understanding in characteristics of sliding mode, a review of literature on sliding-mode control and sliding mode behavior is completed. Next, a theoretical analysis of the SRV-02 motor servo during the sliding mode is developed. An effort is made to find a Lyapunov function that proves …