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A New Approach To Dynamic Modeling Of Continuum Robots, Nivedhitha Giri
A New Approach To Dynamic Modeling Of Continuum Robots, Nivedhitha Giri
All Theses
ABSTRACT
In this thesis, a new approach for developing practically realizable dynamic models for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for analyzing the capabilities of continuum manipulators to be employed in various real world applications has also been proposed and developed.
A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers). It is shown that this model, although an approximation to a continuum structure, can be used to conveniently analyze the dynamics of the arm with suitable tradeoff in accuracy of modeling. This relatively simple model …
Determining Transverse Design Forces For A Next-D Bridge Using 3d Finite Element Modeling, Robert Funcik
Determining Transverse Design Forces For A Next-D Bridge Using 3d Finite Element Modeling, Robert Funcik
All Theses
This thesis looks into the use of 3D Finite Element Modeling to determine the transverse design forces for short-span bridges built using the Northeast Extreme Tee with integral deck (NEXT-D) beam. Models were built using either solid elements or shell elements to represent the bridge deck, and the results were compared. The stiffness of the shear keys were taken into account during the modeling process. Results were compared to the AASHTO strip width method for design bridge decks, and the results showed that the strip width method would not be adequate for the design of NEXT-D bridges, so specific live …
Development Of Reduced Complexity Models For Electromagnetic Modeling, Changyi Su
Development Of Reduced Complexity Models For Electromagnetic Modeling, Changyi Su
All Dissertations
The current and field distributions of various structures can be calculated using full-wave numerical modeling codes. However, this approach is limited by the complex models and extensive computational resources required to analyze the details of each structure. In addition, brute-force modeling of the entire geometry provides relatively little physical insight into the electromagnetic interference (EMI) source mechanisms. Alternatively an effective equivalent model can be obtained by eliminating sources and structures that do not contribute significantly to the radiated emissions and focusing on the features that could possibly be significant sources of EMI. Equivalent models are generally much simpler than model-everything …