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Filtering by: Dspace Collection Electronic Theses and Dissertations Remove constraint Dspace Collection: Electronic Theses and Dissertations Decade 2000-2009 Remove constraint Decade: 2000-2009 Degree Field Mechanical Engineering Remove constraint Degree Field: Mechanical Engineering

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  • A hierarchical neuro-evolutionary approach to small quadrotor control

    Creator:
    Shepherd, Jack F., III
    Abstract:
    Quadrotors are unique among Micro Aerial Vehicles in providing excellent maneuverability (as opposed to winged flight),while maintaing a simple mechanical construction (as opposed to helicopters). This mechanical simplicity comes at a cost of increased controller complexity. Quadrotors are inherently unstable, in the sense that they are essentially unflyable by a...
    Resource Type:
    Masters Thesis
    Full Text:
    . Although these pictures present more accurate and immediate information than relying on local guides, they

  • Numerical simulation of cavitating bubble-laden turbulent flows

    Creator:
    Shams Sobhani, Ehsan
    Abstract:
    Many engineering devices and propulsion systems suffer from undesirable effects of cavitation; such as degradation in the efficiency of pumps and turbines, generation of noise and vibration on ship propeller, increased drag and erosion of propeller blade, etc. In spite of decades of research on this problem, detailed study of...
    Resource Type:
    Dissertation
    Full Text:
    methods and continuum methods. In a more general sense, these are the main strategies often used in two

  • Reduced order modeling of legged locomotion in the horizontal plane

    Creator:
    Wickramasuriya, Gamika Arun
    Abstract:
    Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner over complex terrain, a feat that has yet to be equaled by man-made legged robots. Recent experimental results suggest that these insects may employ a hierarchical control structure, in which locomotion performance emerges from a combination of...
    Resource Type:
    Dissertation
    Full Text:
    improvements in locomotion performance obtained by utilizing these strategies in terms of gait stability and

  • Design, modeling, and performance of miniature reciprocating thermocompressor

    Creator:
    Edwards, Michael J.
    Abstract:
    Research in the miniaturization of thermomechanical systems in recent years has proven to be both rewarding and challenging. Micro-scale devices have tremendous technological potential but come with a new set of design problems. One such problem is energy storage. Heat actuated systems, driven primarily by thermal energy, take advantage of...
    Resource Type:
    Masters Thesis
    Full Text:
    Luke have been a huge blessing to me these last few of years, and I look forward to many more. Thank

  • Learning based methods applied to the MAV control problem

    Creator:
    Salichon, Max
    Abstract:
    This thesis addresses Micro Aerial Vehicle (MAV) control by leveraging learning based techniques to improve robustness of the control system. Applying classical control methods to MAVs is a difficult process due to the complexity of the control laws with fast and highly non-linear dynamics. These methods are mostly based on...
    Resource Type:
    Dissertation
    Full Text:
    of the control laws with fast and highly non-linear dynamics. These methods are mostly based on

  • Navigation and coordination of autonomous mobile robots with limited resources

    Creator:
    Knudson, Matthew D.
    Abstract:
    The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well as allow operation in environments that are hostile to humans. In this dissertation we: 1) provide two adaptive navigation algorithms; 2) develop a coordination mechanism;...
    Resource Type:
    Dissertation
    Full Text:
    navigation, and for high level tasks such as destination selection. Challenges in addressing these

  • Clearing bubble blockages in micro channels using a model predictive controller

    Creator:
    Patton, Chris
    Abstract:
    Micro scale systems are being utilized in a wide variety of chemical, biological and heat exchanger applications, but suffer from the development of vapor bubbles inside the microchannels due to convective boiling, leading to decreases in system performance. In this work, a simulation-based control strategy is employed to eliminate flow...
    Resource Type:
    Masters Thesis
    Full Text:
    moveable objects are identified, and the fluid in these cells is made to behave like a solid object or a

  • Detecting fluid flows with bioinspired hair sensors

    Creator:
    Dickinson, Benjamin T.
    Abstract:
    Many animals detect prey or enhance their locomotion with information from hair-like receptors that are activated by local fluid flows. The utility of biological hair receptors has motivated the design of artificial hair sensors (AHS) for flow control applications where aerodynamic or hydrodynamic forces play a significant role in the...
    Resource Type:
    Dissertation
    Full Text:
    AN ABSTRACT OF THE DISSERTATION OF Benjamin T. Dickinson for

  • Adaptive methods for robust commercial vehicle control

    Creator:
    Junell, Jaime L.
    Abstract:
    This thesis explores the implementation of learning based control with predictive cruise control and the potential this technology has for increasing fuel efficiency while keeping on a well maintained schedule for commercial trucks. Traditional cruise control is wasteful when maintaining a constant velocity over rolling hills. Predictive cruise control is...
    Resource Type:
    Masters Thesis
    Full Text:
    a certain distance has been traveled by the vehicle. These recalculations are expensive and it is

  • Dynamics and stability of lateral plane locomotion on variable inclines

    Creator:
    Bonnono, Scott A.
    Abstract:
    An actuated, bipedal model is developed to investigate lateral plane locomotion dynamics and stability on inclines. Both the point mass case and rigid body case are considered. Variations in the force-free leg length are determined via inverse dynamics to explicitly and implicitly match prescribed lateral and fore-aft force profiles, respectively....
    Resource Type:
    Masters Thesis
    Full Text:
    extends these earlier investigations to locomotion over inclines of variable slope and therefore shares