Non-linear Dynamics 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 …

Assessing The Geomechanical Modelling Of Underground Reservoir For Co₂ Storage Trapping Mechanisms, Bonavian Hasiholan, Mohammed Ali Farea, Elhassan Mostafa Abdallah, Sami Abdelrahman M. Yagoub, Yasir Mukhtar

Mathematical Modelling and Numerical Simulation with Applications

Effective carbon dioxide (CO₂) storage is essential for mitigating climate change amid increasing global greenhouse gas emissions. This study investigates the influence of geomechanics on CO₂ storage performance within carbon capture and storage (CCS), focusing on structural, residual, and solubility trapping mechanisms using a fully coupled modeling framework. Two numerical models, with and without geomechanical effects, are developed to evaluate impacts on reservoir behavior, CO₂ migration, and trapping efficiency. Each mechanism is analyzed separately and within an integrated framework to assess their combined contributions. Results indicate that geomechanical coupling increases reservoir pressure, reduces CO₂ flow velocity, enhances migration control, and …

Mass Effects On Energy Transfer Paths In Nonlinear Vibrating Systems, Manal Mustafa

Dissertations and Doctoral Documents, University of Nebraska-Lincoln, 2023–

This dissertation examines the role of mass in nonlinear systems, uncovering its role in enabling passive energy redistribution and robust vibration control in both idealized and real-world structures. Focusing on a strongly nonlinear two-degree-of-freedom system, it investigates how changes in mass ratio influence the dynamics of energy transfer, nonlinear normal modes (NNMs), and dissipation behavior.

A number of significant contributions are introduced in this work beginning with the introduction of the frequency-energy-peaks (FE-pks) plot, a novel tool that visualizes how energy flows through the system, revealing transient resonance orbits, internal resonance effects, and effectively capturing the different nonlinear phenomena with …

Horizontal Infiltration Of Water Through Porous Snow As A Gravity Current, Anthony Cheng

Dartmouth College Master’s Theses

On the surface of the Greenland ice sheet or around the margins of the Antarctic ice shelf, water infiltrates porous ice. It is important to understand this infiltration process since water populating the pore space of ice directly impacts the density, porosity, and wetness of ice. These properties influence the mechanics and tensile strength of ice, as greater amounts of infiltration result in faster or more widespread deformation events, which may lead to adverse climatic effects such as sea level rise and ocean current disruption. While studies have considered the thermodynamics and fluid mechanics of water vertically percolating through snow …

Reducing Food Scarcity: The Benefits Of Urban Farming, S.A. Claudell, Emilio Mejia

Journal of Nonprofit Innovation

Urban farming can enhance the lives of communities and help reduce food scarcity. This paper presents a conceptual prototype of an efficient urban farming community that can be scaled for a single apartment building or an entire community across all global geoeconomics regions, including densely populated cities and rural, developing towns and communities. When deployed in coordination with smart crop choices, local farm support, and efficient transportation then the result isn’t just sustainability, but also increasing fresh produce accessibility, optimizing nutritional value, eliminating the use of ‘forever chemicals’, reducing transportation costs, and fostering global environmental benefits.

Imagine Doris, who is …

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 …

Experimental Analysis Of Nonlinear Wave Propagation In Bistable Mechanical Metamaterials With A Defect, Samuel R. Harre

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Mechanical metamaterials built up of compliant units can support the propagation of linear and nonlinear waves. A popular architecture consists of a one-dimensional chain of bistable elements connected by linear springs. This type of chain can support nonlinear transition waves that switch each element from one stable state to the other as they propagate along the chain. One way to manipulate the propagation of such waves is via introduction of a local inhomogeneity, i.e., a defect in the otherwise periodic chain. Recent analytical and numerical work has shown that based on its initial velocity, a transition wave may be reflected, …

Computational Modeling Using A Novel Continuum Approach Coupled With Pathway-Informed Neural Networks To Optimize Dynein-Mediated Centrosome Positioning In Polarized Cells, Arkaprovo Ghosal, Padmanabhan Seshaiyar Dr., Adriana Dawes Dr., General Genomics Inc.

Annual Symposium on Biomathematics and Ecology Education and Research

No abstract provided.

Machine Learning-Based Data And Model Driven Bayesian Uncertanity Quantification Of Inverse Problems For Suspended Non-Structural System, Zhiyuan Qin

All Dissertations

Inverse problems involve extracting the internal structure of a physical system from noisy measurement data. In many fields, the Bayesian inference is used to address the ill-conditioned nature of the inverse problem by incorporating prior information through an initial distribution. In the nonparametric Bayesian framework, surrogate models such as Gaussian Processes or Deep Neural Networks are used as flexible and effective probabilistic modeling tools to overcome the high-dimensional curse and reduce computational costs. In practical systems and computer models, uncertainties can be addressed through parameter calibration, sensitivity analysis, and uncertainty quantification, leading to improved reliability and robustness of decision and …

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 …

Computational Design Of Nonlinear Stress-Strain Of Isotropic Materials, Askhad M.Polatov, Akhmat M. Ikramov, Daniyarbek Razmukhamedov

Chemical Technology, Control and Management

The article deals with the problems of numerical modeling of nonlinear physical processes of the stress-strain state of structural elements. An elastoplastic medium of a homogeneous solid material is investigated. The results of computational experiments on the study of the process of physically nonlinear deformation of isotropic elements of three-dimensional structures with a system of one- and double-periodic spherical cavities under uniaxial compression are presented. The influence and mutual influence of stress concentrators in the form of spherical cavities, vertically located two cavities and a horizontally located system of two cavities on the deformation of the structure are investigated. Numerical …

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 …

Rogue Rotary - Modular Robotic Rotary Joint Design, Sean Wesley Murphy, Tyler David Riessen, Jacob Mark Triplett

Mechanical Engineering

This paper describes the design process from ideation to test validation for a singular robotic joint to be configured into a myriad of system level of robots.

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

Western Research Forum

Global Exponential Stabilization on SO(3)

A Physics-Based Approach To Modeling Wildland Fire Spread Through Porous Fuel Beds, Tingting Tang

Theses and Dissertations--Mechanical and Aerospace Engineering

Wildfires are becoming increasingly erratic nowadays at least in part because of climate change. CFD (computational fluid dynamics)-based models with the potential of simulating extreme behaviors are gaining increasing attention as a means to predict such behavior in order to aid firefighting efforts. This dissertation describes a wildfire model based on the current understanding of wildfire physics. The model includes physics of turbulence, inhomogeneous porous fuel beds, heat release, ignition, and firebrands. A discrete dynamical system for flow in porous media is derived and incorporated into the subgrid-scale model for synthetic-velocity large-eddy simulation (LES), and a general porosity-permeability model is …

Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven

Theses and Dissertations--Mechanical and Aerospace Engineering

This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the …

A Contribution Toward Better Understanding Of Overbanking Tendency In Fixed-Wing Aircraft, Nihad E. Daidzic

Journal of Aviation Technology and Engineering

The phenomenon of overbanking tendency for a rigid-body, fixed-wing aircraft is investigated. Overbanking tendency is defined as a spontaneous, unbalanced rolling moment that keeps increasing an airplane’s bank angle in steep turns and must be arrested by opposite aileron action. As stated by the Federal Aviation Administration, the overbanking tendency may lead to a loss of control, especially in instrument meteorological conditions. It was found in this study that the speed differential over wing halves in horizontal turns indeed creates a rolling moment that achieves maximum values for bank angles between 45 and 55 degrees. However, this induced rolling moment …

Universal Scaling And Intrinsic Classification Of Electro-Mechanical Actuators, Sambit Palit, Ankit Jain, Muhammad A. Alam

Birck and NCN Publications

Actuation characteristics of electromechanical (EM) actuators have traditionally been studied for a few specific regular electrode geometries and support (anchor) configurations. The ability to predict actuation characteristics of electrodes of arbitrary geometries and complex support configurations relevant for broad range of applications in switching, displays, and varactors, however, remains an open problem. In this article, we provide four universal scaling relationships for EM actuation characteristics that depend only on the mechanical support configuration and the corresponding electrode geometries, but are independent of the specific geometrical dimensions and material properties of these actuators. These scaling relationships offer an intrinsic classification for …

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 …

Controlling Nanoparticles Formation In Molten Metallic Bilayers By Pulsed-Laser Interference Heating, Mikhail Khenner, Sagar Yadavali, Ramki Kalyanaraman

Mathematics Faculty Publications

The impacts of the two-beam interference heating on the number of core-shell and embedded nanoparticles and on nanostructure coarsening are studied numerically based on the non-linear dynamical model for dewetting of the pulsed-laser irradiated, thin (< 20 nm) metallic bilayers. The model incorporates thermocapillary forces and disjoining pressures, and assumes dewetting from the optically transparent substrate atop of the reflective support layer, which results in the complicated dependence of light reflectivity and absorption on the thicknesses of the layers. Stabilizing thermocapillary effect is due to the local thickness-dependent, steady- state temperature profile in the liquid, which is derived based on the mean substrate temperature estimated from the elaborate thermal model of transient heating and melting/freezing. Linear stability analysis of the model equations set for Ag/Co bilayer predicts the dewetting length scales in the qualitative agreement with experiment.

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 …

Formation Of Organized Nanostructures From Unstable Bilayers Of Thin Metallic Liquids, Mikhail Khenner, Sagar Yadavali, Ramki Kalyanaraman

Mathematics Faculty Publications

Dewetting of pulsed-laser irradiated, thin (< 20 nm), optically reflective metallic bilayers on an optically transparent substrate with a reflective support layer is studied within the lubrication equations model. A steady-state bilayer film thickness (h) dependent temperature profile is derived based on the mean substrate temperature estimated from the elaborate thermal model of transient heating and melting/freezing. Large thermocapillary forces are observed along the plane of the liquid-liquid and liquid-gas interfaces due to this h-dependent temperature, which, in turn, is strongly influenced by the h-dependent laser light reflection and absorption. Consequently the dewetting is a result of the competition between thermocapillary and intermolecular forces. A linear analysis of the dewetting length scales established that the non-isothermal calculations better predict the experimental results as compared to the isothermal case within the bounding Hamaker coefficients. Subsequently, a computational non-linear dynamics study of the dewetting pathway was performed for Ag/Co and Co/Ag bilayer systems to predict the morphology evolution. We found that the systems evolve towards formation of different morphologies, including core-shell, embedded, or stacked nanostructure morphologies.

Modeling Diverse Physics Of Nanoparticle Self-Assembly In Pulsed Laser-Irradiated Metallic Films, Mikhail Khenner

Mathematics Faculty Publications

Presents physics behind dewetting of thin liquid films and mathematical/computational modeling tools (Educational/Research presentation for senior physics majors).

Stability Of A Strongly Anisotropic Thin Epitaxial Film In A Wetting Interaction With Elastic Substrate, Mikhail Khenner, Wondimu T. Tekalign, Margo S. Levine

Mathematics Faculty Publications

The linear dispersion relation for longwave surface perturbations, as derived by Levine et al. Phys. Rev. B 75, 205312 (2007) is extended to include a smooth surface energy anisotropy function with a variable anisotropy strength (from weak to strong, such that sharp corners and slightly curved facets occur on the corresponding Wulff shape). Through detailed parametric studies it is shown that a combination of a wetting interaction and strong anisotropy, and even a wetting interaction alone results in complicated linear stability characteristics of strained and unstrained films.

Stability Of A Strongly Anisotropic Thin Epitaxial Film In A Wetting Interaction With Elastic Substrate, Mikhail Khenner, Wondimu Tekalign, Margo Levine

Mathematics Faculty Publications

The linear dispersion relation for longwave surface perturbations, as derived by Levine et al. Phys. Rev. B 75, 205312 (2007) is extended to include a smooth surface energy anisotropy function with a variable anisotropy strength (from weak to strong, such that sharp corners and slightly curved facets occur on the corresponding Wulff shape). Through detailed parametric studies it is shown that a combination of a wetting interaction and strong anisotropy, and even a wetting interaction alone results in complicated linear stability characteristics of strained and unstrained films.

Morphological Evolution Of Single-Crystal Ultrathin Solid Films, Mikhail Khenner

Mathematics Faculty Publications

An introduction to mathematical modeling of ultrathin solid films and the role of such modeling in nanotechnologies: Educational presentation for senior physics majors

Morphological Evolution Of Single-Crystal Ultrathin Solid Films, Mikhail Khenner

Mathematics Faculty Publications

An introduction to mathematical modeling of ultrathin solid films and the role of such modeling in nanotechnologies: Educational/Research presentation for senior physics majors

Oscillatory And Monotonic Modes Of Long-Wave Marangoni Convection In A Thin Film, Sergey Shklyaev, Mikhail Khenner, Alexei Alabuzhev

Mathematics Faculty Publications

We study long-wave Marangoni convection in a layer heated from below. Using the scaling k=O Bi, where k is the wave number and Bi is the Biot number, we derive a set of amplitude equations. Analysis of this set shows presence of monotonic and oscillatory modes of instability. Oscillatory mode has not been previously found for such direction of heating. Studies of weakly nonlinear dynamics demonstrate that stable steady and oscillatory patterns can be found near the stability threshold.

Oscillatory And Monotonic Modes Of Long-Wave Marangoni Convection In A Thin Film, Sergey Shklyaev, Mikhail Khenner, Alexei Alabuzhev

Mathematics Faculty Publications

We study long-wave Marangoni convection in a layer heated from below. Using the scaling k=O Bi, where k is the wave number and Bi is the Biot number, we derive a set of amplitude equations. Analysis of this set shows presence of monotonic and oscillatory modes of instability. Oscillatory mode has not been previously found for such direction of heating. Studies of weakly nonlinear dynamics demonstrate that stable steady and oscillatory patterns can be found near the stability threshold.