Dynamic Systems Commons^™

Safe Control Design For Quadruped Locomotion In Unstructured Environments Using Linear Transfer Operators, Sriram Sundar Krishnamoorthy Shankara Narayanan

All Dissertations

Deploying quadruped robots in unstructured, obstacle-rich environments requires control and planning methods that remain safe and reliable despite complex terrain geometry, limited sensing, and inevitable modeling errors. This thesis develops operator-theoretic tools for safe control design of robotic systems using linear transfer operators, with a focus on quadruped locomotion in unstructured environments. The central goal is to develop a unified operator-theoretic framework for safe control design based on the Perron–Frobenius (P–F) and Koopman operators. In particular, the thesis leverages \emph{density functions} to develop safe navigation frameworks in the dual space of densities. In the operator-theoretic perspective, the P–F operator governs …

Stability Analysis Of Thermohaline Convection With A Time-Varying Shear Flow Using The Lyapunov Method, Kalin Kochnev

Honors Scholar Theses

This work applies the Lyapunov method to identify instabilities and compute the growth rate of a linear time-varying system. The linear system studied describes cold fresh water on top of hot salty water with a periodically time-varying background shear flow. A time-dependent weighting matrix is employed to construct a Lyapunov function candidate. The resulting linear matrix inequalities are discretized in time using the forward Euler method. As the number of temporal discretization points increases, the growth rate predicted by the Lyapunov method or Floquet theory, used for comparison, will converge to the same value obtained from numerical simulations. Furthermore, the …

Hitch Cart “Landing Gear”, Rebekah White, Jose Raygoza, Randy Hernandez, Brandon Leon

Mechanical Engineering

This report aims to allow our sponsor, to review our design process of the Hitch Cart Landing Gear Prototype. In the design overview section of this report, we discuss the primary design modifications we made to the wheel mechanism of the existing hitch cart prototype, including the addition of the ACME screws and the folding brackets. This allows our sponsor to see the intended improvements made to the past prototype and understand the primary goal of our project. Then, in the implementation section, we cover the entire manufacturing process to allow our sponsor to understand what manufacturing steps must be …

System Identification For Motion Control Of Unmanned Aerial Vehicles Platform, Raj Ramesh Agarwal

Theses and Dissertations

Comprehensive research on Unmanned Aerial Vehicles (UAV) system identification for motion control parameters is presented in this thesis, with a focus on the necessity of precise control and improved performance. Using Pseudorandom Binary Sequence (PRBS) and Normally Distributed Random Numbers, it presents a unique technique for excitation of UAV dynamic systems. It also shows how effective random signals are in time-domain identification for precise control in a range of flying circumstances. The piece of research includes a thorough analysis and implementation of various approaches and its further improvements, highlighting the benefits and drawbacks of each. These approaches include the free …

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 …

Controlled Manipulation And Transport By Microswimmers In Stokes Flows, Jake Buzhardt

All Dissertations

Remotely actuated microscale swimming robots have the potential to revolutionize many aspects of biomedicine. However, for the longterm goals of this field of research to be achievable, it is necessary to develop modelling, simulation, and control strategies which effectively and efficiently account for not only the motion of individual swimmers, but also the complex interactions of such swimmers with their environment including other nearby swimmers, boundaries, other cargo and passive particles, and the fluid medium itself. The aim of this thesis is to study these problems in simulation from the perspective of controls and dynamical systems, with a particular focus …

Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang

Electronic Theses and Dissertations

Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …

Investigation Of Fundamental Principles Of Rigid Body Impact Mechanics, Khalid Alluhydan

Mechanical Engineering Research Theses and Dissertations

In impact mechanics, the collision between two or more bodies is a common, yet a very challenging problem. Producing analytical solutions that can predict the post-collision motion of the colliding bodies require consistent modeling of the dynamics of the colliding bodies. This dissertation presents a new method for solving the two and multibody impact problems that can be used to predict the post-collision motion of the colliding bodies. Also, we solve the rigid body collision problem of planar kinematic chains with multiple contacts with external surfaces.

In the first part of this dissertation, we study planar collisions of Balls and …

Maximizing And Modeling Malonyl-Coa Production In Escherichia Coli, Tatiana Thompson Silveira Mello

LSU Master's Theses

In E. coli, fatty acid synthesis is catalyzed by the enzyme acetyl-CoA carboxylase (ACC), which converts acetyl-CoA into malonyl-CoA. Malonyl-CoA is a major building block for numerous of bioproducts. Multiple parameters regulate the homeostatic cellular concentration of malonyl-CoA, keeping it at a very low level. Understanding how these parameters affect the bacterial production of malonyl-CoA is fundamental to maximizing it and its bioproducts. To this end, competing pathways consuming malonyl-CoA can be eliminated, and optimal nutritional and environmental conditions can be provided to the fermentation broth. Most previous studies utilized genetic modifications, expensive consumables, and high-cost quantification methods, making …

Rotordynamic Analysis Of Theoretical Models And Experimental Systems, Cameron R. Naugle

Master's Theses

This thesis is intended to provide fundamental information for the construction and

analysis of rotordynamic theoretical models, and their comparison the experimental

systems. Finite Element Method (FEM) is used to construct models using Timoshenko

beam elements with viscous and hysteretic internal damping. Eigenvalues

and eigenvectors of state space equations are used to perform stability analysis, produce

critical speed maps, and visualize mode shapes. Frequency domain analysis

of theoretical models is used to provide Bode diagrams and in experimental data

full spectrum cascade plots. Experimental and theoretical model analyses are used

to optimize the control algorithm for an Active Magnetic Bearing …

Some Insights Into The Migration Of Double Imaginary Roots Under Small Deviation Of Two Parameters, Dina Alina Irofti, Keqin Gu, Islam Boussaada, Silviu-Iulian Niculescu

SIUE Faculty Research, Scholarship, and Creative Activity

This paper studies the migration of double imaginary roots of the systems’ characteristic equation when two parameters are subjected to small deviations. The proposed approach covers a wide range of models. Under the least degeneracy assumptions, we found that the local stability crossing curve has a cusp at the point that corresponds to the double root, and it divides the neighborhood of this point into an S-sector and a G-sector. When the parameters move into the G-sector, one of the roots moves to the right halfplane, and the other moves to the left half-plane. When the parameters move into the …

Communication Based Control For Dc Microgrids, Mahmoud S. Saleh, Yusef Esa, Ahmed Mohamed

Publications and Research

Centralized communication-based control is one of the main methods that can be implemented to achieve autonomous advanced energy management capabilities in DC microgrids. However, its major limitation is the fact that communication bandwidth and computation resources are limited in practical applications. This can be often improved by avoiding redundant communications and complex computations. In this paper, an autonomous communication-based hybrid state/event driven control scheme is proposed. This control scheme is hierarchical and heuristic, such that on the primary control level, it encompasses state-driven local controllers, and on the secondary control level, an event-driven MG centralized controller (MGCC) is used. This …

Strong Stability Of A Class Of Difference Equations Of Continuous Time And Structured Singular Value Problem, Qian Ma, Keqin Gu, Narges Choubedar

SIUE Faculty Research, Scholarship, and Creative Activity

This article studies the strong stability of scalar difference equations of continuous time in which the delays are sums of a number of independent parameters tau_i, i = 1, 2, . . . ,K. The characteristic quasipolynomial of such an equation is a multilinear function of exp(-tau_i s). It is known that the characteristic quasipolynomial of any difference equation set in the form of one-delayper- scalar-channel (ODPSC) model is also in such a multilinear form. However, it is shown in this article that some multilinear forms of quasipolynomials are not characteristic quasipolynomials of any ODPSC difference equation set. The equivalence …

Optimization And Control Of An Array Of Wave Energy Converters, Jianyang Lyu

Dissertations, Master's Theses and Master's Reports

This study explored optimal configuration of both the array layout and the dimension of each WEC in the array. The array contains heaving buoys with full interaction and exact hydrodynamics. Optimization of dimension was done on each WEC in the array with a given optimal layout, and a higher q-factor was achieved. Both impedance matching optimal control and derivative control were employed, which provides both theoretical maximum energy and a more realistic case. Then the work was expanded to optimization of both the array layout and the dimension of each WEC in the array. An average of 39.21% higher q-factor …

P26. Global Exponential Stabilization On So(3), Soulaimane Berkane

Western Research Forum

Global Exponential Stabilization on SO(3)

Project Haiti 2012: Providing An Experiential Learning Experience Through The Design And Delivery Of A Water Purifier In Haiti, Yung Wong, Johnathon Camp, Shavin Pinto, Kyle Fennesy, Marc Compere, Yan Tang

Publications

In this paper, we share our experiences and lessons learned from Project Haiti 2012, a project to design and install a water purification system serving 20,000 people per day in the largest tent city in Haiti. Project Haiti 2012 was the third and largest system we have built for Haitians and represents a huge success for all participants and stakeholders. This paper discusses the unique experiential learning opportunity involved in the design and delivery of the water purifier in a foreign developing country. Multiple positive educational, social, and economic outcomes were achieved including students applying knowledge gained from coursework towards …

A Review Of Some Subtleties Of Practical Relevance, Keqin Gu

SIUE Faculty Research, Scholarship, and Creative Activity

This paper reviews some subtleties in time-delay systems of neutral type that are believed to be of particular relevance in practice. Both traditional formulation and the coupled differential-difference equation formulation are used. The discontinuity of the spectrum as a function of delays is discussed. Conditions to guarantee stability under small parameter variations are given. A number of subjects that have been discussed in the literature, often using different methods, are reviewed to illustrate some fundamental concepts. These include systems with small delays, the sensitivity of Smith predictor to small delay mismatch, and the discrete implementation of distributed-delay feedback control. The …

Multi-Disciplinary Hands-On Desktop Learning Modules And Modern Pedagogies, Bernard J. Van Wie, David B. Thiessen, Marc Compere, Ximena Toro, Jennifer C. Adam, Et Al.

Publications

Our team’s research focuses on fundamental problems in undergraduate education in terms of how to expand use of well researched, yet still “new”, teaching pedagogies of ‘sensing’ or ‘hands-on’, ‘active’ and ‘problem-based learning’ within engineering courses. It is now widely accepted that traditional lectures ARE NOT best for students – yet that is what the community almost universally does.

To address this issue we are developing new Desktop Learning Modules (DLMs) that contain miniaturized processes with a uniquely expandable electronic system to contend with known sensor systems/removable cartridges, as well as, unknown expansions to the project. We have shown that …

High Tech High Touch: Lessons Learned From Project Haiti 2011, Yan Tang, Marc Compere, Yung Lun Wong, Jared Anthony Coleman, Matthew Charles Selkirk

Publications

In this paper, we will share our experiences and lessons learned from a design project for providing clean water to a Haitian orphanage (Project Haiti 2011). Supported by funds from a renewable energy company and the university president’s office, five engineering students and two faculty members from Embry-Riddle Aeronautical University successfully designed and installed a solar powered water purification system for an orphanage located in Chambellan, Haiti. This paper discusses the unique educational experiences gained from unusual design constraints, such as ambiguity of existing facilities due to limited communication, logistics of international construction at a remote village location, and cross-cultural …