Physical Sciences and Mathematics Commons^™

Design Of Adaptive Sliding Mode Fuzzy Control For Robot Manipulator Based On Extended Kalman Filter, Abdelrahman Aledhaibi

Mechanical & Aerospace Engineering Theses & Dissertations

In this work, a new adaptive motion control scheme for robust performance control of robot manipulators is presented. The proposed scheme is designed by combining the fuzzy logic control with the sliding mode control based on extended Kalman filter. Fuzzy logic controllers have been used successfully in many applications and were shown to be superior to the classical controllers for some nonlinear systems. Sliding mode control is a powerful approach for controlling nonlinear and uncertain systems. It is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances, provided that the bounds of …

Diffusion Problems In Wound Healing And A Scattering Approach To Immune System Interactions, Julia Suzanne Arnold

Mathematics & Statistics Theses & Dissertations

A theoretical model for the existence of a Critical Size Defect (CSD) in certain animals is the focus of the majority of this dissertation. Adam [1] recently developed a one-dimensional model of this phenomenon, and chapters I–V address the exist the CSD in a two-dimensional model and a three-dimensional model. The two dimensional (or 1-d circular) model is the more appropriate for a study of CSD's. In that model we assume a circular wound of uniform depth and develop a time-independent form of the diffusion equation relevant to the study of the CSD phenomenon. It transpires that the range of …

Stratal Architecture In A Prograding Shoreface Deposit, Eastern Shore, Va: Relationship To Grain Size, Permeability, And Facies Distribution, Andrew C. Miller

OES Theses and Dissertations

A fundamental concern of the stratigrapher is to develop predictive models of stratigraphic organization. In sedimentology one of the most significant problems that has yet to be resolved is the fact that there is a lack of quantitative information regarding the relationship between geometry of beds, thickness of beds, grain size and sedimentary structures in sandy environments, especially shallow marine deposits. Scientists have also realized the need to correlate quantitative permeability to sedimentary structures and scales of stratigraphic organization. The purpose of the study is to investigate the scales of stratigraphic organization that control the variation of grain size and …

The Solution Of Hypersingular Integral Equations With Applications In Acoustics And Fracture Mechanics, Richard S. St. John

Mathematics & Statistics Theses & Dissertations

The numerical solution of two classes of hypersingular integral equations is addressed. Both classes are integral equations of the first kind, and are hypersingular due to a kernel containing a Hadamard singularity. The convergence of a Galerkin method and a collocation method is discussed and computationally efficient algorithms are developed for each class of hypersingular integral equation.

Interest in these classes of hypersingular integral equations is due to their occurrence in many physical applications. In particular, investigations into the scattering of acoustic waves by moving objects and the study of dynamic Griffith crack problems has necessitated a computationally efficient technique …

Vortex Wake And Exhaust Plume Interaction, Including Ground Effect, Ihab Gaber Adam

Mechanical & Aerospace Engineering Theses & Dissertations

Computational modeling and studies of the near-field wake-vortex turbulent flows, far-field turbulent wake-vortex/exhaust-plume interaction for subsonic and High Speed Civil Transport (HSCT) airplane, and wake-vortex/exhaust-plume interaction with the ground are carried out. The three-dimensional, compressible Reynolds-Averaged Navier-Stokes (RANS) equations are solved using the implicit, upwind, Roe-flux-differencing, finite-volume scheme. The turbulence models of Baldwin and Lomax, one-equation model of Spalart and Allmaras and two-equation shear stress transport model of Menter are implemented with the RANS solver for turbulent-flow modeling.

For the near-field study, computations are carried out on a fine grid for a rectangular wing with a NACA-0012 airfoil section and …

Inversion And Analysis Of Remotely Sensed Atmospheric Water Vapor Measurements At 940nm, Jack Cutler Larsen

Mechanical & Aerospace Engineering Theses & Dissertations

The understanding and acceptance of remotely sensed atmospheric data depends strongly on the steps taken to characterize experiment error and validate observations through comparisons to other independent measurements. A formal error analysis of the Stratospheric Aerosol and Gas Experiment II (SAGE II) water vapor operational inversion algorithm is performed and compared to previous results. Random measurement errors were characterized by segmented least-squares profile fitting of the slant path absorption which found the error to be uncorrelated in the stratosphere with estimated variances significantly smaller than expected from 18-30 km. Estimates of null space error were developed from radiosonde hygrometers in …

The Study Of Wave-Blocking And Current Effects On Nonlinear Interactions Of Shallow-Water Waves Using Advanced Boussinesq Models, Qin Chen

Civil & Environmental Engineering Theses & Dissertations

The first part of this work focuses on the derivation of enhanced Boussinesq-type equations for the combined motion of waves and currents in shallow water areas.

The strategy proposed in this work is to couple two known methods which are the sponge layer concept suitable for short waves and Sommerfeld radiation condition for currents. This coupling method provides satisfactory non-reflective boundaries for the simulation of fully coupled wave/current motion as demonstrated by the numerical experiments. We verify the model against the well known solutions based on the existing theories and good agreement has been observed. The numerical results confirm the …

High-Order Finite-Difference Schemes And Their Application To Computational Acoustics, Joe Leo Manthey

Mathematics & Statistics Theses & Dissertations

The primary focus of this study is upon the numerical stability of high-order finite-difference schemes and their application to duct acoustics. Since acoustic waves are known to be non-dissipative and non-dispersive, high-order schemes are favored for their low dissipation and low dispersion relative to the low-order schemes. The primary obstacle to the the development of explicit high-order finite-difference schemes is the construction of boundary closures which simultaneously maintain the formal order of accuracy and the numerical stability of the overall scheme. In this thesis a hybrid seven-point, fourth-order stencil for computing spatial derivatives is presented and the time stability is …

Three-Dimensional Aerodynamic Design Optimization Using Discrete Sensitivity Analysis And Parallel Computing, Amidu Olawale Oloso

Mechanical & Aerospace Engineering Theses & Dissertations

A hybrid automatic differentiation/incremental iterative method was implemented in the general purpose advanced computational fluid dynamics code (CFL3D Version 4.1) to yield a new code (CFL3D.ADII) that is capable of computing consistently discrete first order sensitivity derivatives for complex geometries. With the exception of unsteady problems, the new code retains all the useful features and capabilities of the original CFL3D flow analysis code. The superiority of the new code over a carefully applied method of finite-differences is demonstrated.

A coarse grain, scalable, distributed-memory, parallel version of CFL3D.ADII was developed based on "derivative stripmining". In this data-parallel approach, an identical copy …

Comprehensive Conjunctive-Use Management Of Connected Surface Water Groundwater Systems Using Stochastic Inputs And Uncertainties, Seshadri Suryanarayana

Civil & Environmental Engineering Theses & Dissertations

A comprehensive conjunctive-use management model is developed. The dynamics of flow and solute transport processes in connected surface water groundwater systems are integrated by a dual programming management model. The governing aquifer flow parameters and streamflows are treated as stochastic random processes. Multiple realizations of the random field are generated and are explicitly incorporated in a non-linear optimization model along with other system, environmental, and management constraints. To facilitate management of large aquifer systems, a linked simulation-optimization approach is used. The simulation program generates the response matrices for flow and transport processes. The management model then determines optimal well discharges …

A One-Dimensional Model For Storm Breaching Of Barrier Islands, Cheol Shik Shin

Civil & Environmental Engineering Theses & Dissertations

A set of numerical models is developed for simulating the four stages of barrier breaching characterized by one horizontal spatial dimension.

The SBEACH model is employed for the first stage of dune/beach erosion. The Lax-Wendroff two-step explicit scheme for Stage II is developed to simulate initiation of ocean flood propagation on initially dry barrier islands and the method of characteristics (MOC), is employed to compute additional boundary data. The development of the Preissmann implicit scheme for water motion and a forward time centered space explicit scheme for sediment motion in Stages III and IV provide a tool to study the …

Exact Solutions For Orthogonal And Non-Orthogonal Magnetohydrodynamic Stagnation-Point Flow, Shahrooz Moosavizadeh

Mathematics & Statistics Theses & Dissertations

The viscous plane flow of an electrically conducting fluid towards an infinite wall is solved in the presence of a magnetic field which is aligned with the flow far from the wall. The problem has two dimensionless parameters-- ε, the magnetic Prandtl number, and β, the square of the ratio of Alfven velocity to fluid velocity far from the wall. The problem has a similarity solution which reduces the governing equations to a system of coupled ordinary differential equations which can be solved numerically. For extreme values of ε, both large and small, singular perturbation techniques are used to derive …

Studies Of Mixing Processes In Gases And Effects On Combustion And Stability, Frank Paul Kozusko Jr.

Mathematics & Statistics Theses & Dissertations

Three physical models of laminar mixing of initially separated gases are studied. Two models study the effects of the mixing dynamics on the chemical reactions between the gases. The third model studies the structure and stability of a laminar mixing layer in a binary gas. The three models are:

1. Two ideal and incompressible gases representing fuel and oxidizer are initially at rest and separated across an infinite linear interface in a two dimensional system. Combustion, expected as the gases mix, will lead to a rapid rise in temperature in a localized area, i.e. ignition. The mixing of the gases …

Nozzle Flow With Vibrational Nonequilibrium, John Gary Landry

Mathematics & Statistics Theses & Dissertations

Flow of nitrogen gas through a converging-diverging nozzle is simulated. The flow is modeled using the Navier-Stokes equations that have been modified for vibrational nonequilibrium. The energy equation is replaced by two equations. One equation accounts for energy effects due to the translational and rotational degrees of freedom, and the other accounts for the affects due to the vibrational degree of freedom. The energy equations are coupled by a relaxation time which measures the time required for the vibrational energy component to equilibrate with the translational and rotational energy components. An improved relaxation time is used in this thesis. The …

Simulation Of Active Control Of Asymmetric Flows Around Slender Pointed Forebodies, Hazem Sharaf El-Din

Mechanical & Aerospace Engineering Theses & Dissertations

At high angles of attack, the flowfield over slender forebodies becomes asymmetric with substantial side force, which may exceed the available control capability. The unsteady compressible Navier-Stokes equations are used to investigate the effectiveness of different active control methods to alleviate and possibly eliminate the flow asymmetry and the subsequent side force. Although the research work focuses on active control methods, a passive control method has been investigated. The implicit, Roe flux-difference splitting, finite volume scheme is used for the numerical computations. Both locally-conical and three-dimensional solutions of the Navier-Stokes equations are obtained.

The asymmetric flow over five-degree semi-apex angle …

Flow Simulations About Steady-Complex And Unsteady Moving Configurations Using Structured-Overlapped And Unstructured Grids, James Charles Newman Iii

Mechanical & Aerospace Engineering Theses & Dissertations

The limiting factor in simulating flows past realistic configurations of interest has been the discretization of the physical domain on which the governing equations of fluid flow may be solved. In an attempt to circumvent this problem, many Computational Fluid Dynamic (CFD) methodologies that are based on different grid generation and domain decomposition techniques have been developed. However, due to the costs involved and expertise required, very few comparative studies between these methods have been performed. In the present work, the two CFD methodologies which show the most promise for treating complex three-dimensional configurations as well as unsteady moving boundary …

Unsteady Flow Simulations About Moving Boundary Configurations Using Dynamic Domain Decomposition Techniques, Guan-Wei Yen

Mechanical & Aerospace Engineering Theses & Dissertations

A computational method is developed to solve the coupled governing equations of an unsteady flowfield and those of rigid-body dynamics in six degrees-of-freedom (6-DOF). This method is capable of simulating the unsteady flowfields around multiple component configurations with at least one of the components in relative motion with respect to the others. Two of the important phenomena that such analyses can help us to understand are the unsteady aerodynamic interference and the boundary-induced component of such a flowfield. By hybridizing two dynamic domain decomposition techniques, the grid generation task is simplified, the computer memory requirement is reduced, and the governing …

Multigrid Acceleration Of Time-Dependent Solutions Of Navier-Stokes Equations, Sarafa Oladele Ibraheem

Mechanical & Aerospace Engineering Theses & Dissertations

Recent progress in Computational Fluid Dynamics is encouraging scientists to look at fine details of flow physics of problems in which natural unsteady phenomena have hitherto been neglected. The acceleration methods that have proven very successful in steady state computations can be explored for time dependent computations. In this work, an efficient multigrid methods is developed to solve the time-dependent Euler and Navier-Stokes equations. The Beam-Warming ADI method is used as the base algorithm for time stepping calculations. Application of the developed algorithm proved very efficient in selected steady and unsteady test problems. For instance, the inherent unsteadiness present in …

On Shock Capturing For Liquid And Gas Media, Tze Jang Chen

Mathematics & Statistics Theses & Dissertations

The numerical investigation of shock phenomena in gas or liquid media where a specifying relation for internal energy is absent poses special problems. Classically, for gas dynamics the usual procedure is to employ a splitting scheme to remove the source terms from the Euler equations, then up-wind biased shock capturing algorithms are built around the Riemann problem for the system which remains. However, in the case where the Euler equations are formulated in the term of total enthalpy, a technical difficulty associated with equation splitting forces a pressure time derivative to be treated as a source term. This makes it …

Kinematic Synthesis Of Deployable-Foldable Truss Structures Using Graph Theory, Dirk B. Warnaar

Mechanical & Aerospace Engineering Theses & Dissertations

A graph theoretic approach is applied to the conceptual design of deployable truss structures. The characteristics that relate to the inter-connectivity of the elements of a deployable truss structure can be captured in a schematic representation, called a graph. A procedure is presented that enables the exhaustive generation of these graphs for structures of any given number of nodes and links and which are foldable onto a plane or onto a line.

A special type of truss structures, called truss modules, is presented. Graphs of this class of structures form a subset of the graphs of truss structures. Two procedures …

A Study Of Flow Separation In Transonic Flow Using Inviscid And Viscous Cfd Schemes, James Andrew Rhodes

Mechanical & Aerospace Engineering Theses & Dissertations

A comparison of flow separation in transonic flows is made using various computational schemes which solve the Euler and the Navier-Stokes equations of fluid mechanics. The flows examined are computed using several simple two-dimensional configurations including a backward facing step and a bump in a channel. Comparison of the results obtained using shock fitting and flux vector splitting methods are presented and the results obtained using the Euler codes are compared to results on the same configurations using a code which solves the Navier-Stokes equations.

A Numerical Study Of Three-Dimensional Vortex Breakdown, Robert Edward Spall

Mechanical & Aerospace Engineering Theses & Dissertations

A numerical simulation of vortex breakdown using the time-dependent Navier-Stokes equations was performed. Unlike previous studies, the numerical algorithm, formulated in terms of the velocity and vorticity, was not restricted to axisymmetric flows. Prototype vortices were parameterized in terms of their Reynolds number and Rossby number. Two cases were studied extensively. In one case, a vortex was imbedded in a uniform free stream. In the other case, the axial velocity of the free stream was decelerated in the streamwise direction. For both cases breakdown occurred when the Rossby number was below a critical value. Vortex lines, particle traces and velocity …

Water Wave Refraction With Non-Linear Theory, Im Sang Oh

OES Theses and Dissertations

Two different kinds of wave refraction models are formulated in the present study using Stokes' third order wave theory. One type of model is utilized in a parametric study employing several different topographies. Wave trajectories obtained from this model, when obtained by using first and third order wave theory with and without the consideration of energy dissipation, show considerable differences. These differences are examined in more detail for a bottom of constant slope: (1) An approximate 10% difference occurs between the refraction coefficients obtained using the first and the third order wave theory. (2) Considerably different ray trajectories are detected …

Sound Absorption In N2-H2O Gas Mixtures At Elevated Temperatures, Roger W. Meredith

Physics Theses & Dissertations

Sound absorption measurements were conducted in N₂ -H₂O gas mixtures at 297, 343, and 387 Kelvin to determine the location of the vibrational relaxation peak of nitrogen on the frequency/pressure, (f/P), axis as a function of humidity and temperature. At low humidities the best fit of the data is to a linear relationship between (f/P)_max and humidity (h) yields a slope of 1 .84 X 10⁴ Hz/ atm mole fraction at all three temperatures. The slope is the same as that reported by Zuckerwar and Griffin (2.00 X 10⁴ Hz/atm mole fraction) but is …

Influence Of Nonequilibrium Radiation And Shape Change On The Flowfield Of A Jupiter Probe With Ablation And Mass Injection, Sundaresa Venkata Subramanian

Mechanical & Aerospace Engineering Theses & Dissertations

The influence of nonequilibrium radiative energy transfer and the effect of probe configuration changes on the flow phenomena around a Jovian entry body is investigated. The radiating shock-layer flow is assumed to be axisymmetric, viscous, laminar and in chemical equilibrium. The radiative transfer equations are derived under nonequilibrium conditions which include multi-level energy transitions. The equilibrium radiative transfer is calculated with an existing nongray radiation model which accounts for molecular band, atomic line and continuum transitions. The nonequilibrium results are obtained with and without ablation injection in the shock layer. The nonequilibrium results are found to be influenced greatly by …