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  • Discrete-time explicit model reference adaptive control for robotic manipulators

    Creator:
    Yuh, Junku
    Abstract:
    In this dissertation a direct approach to discrete-time model reference adaptive control (MRAC) based on hyperstability theory is proposed to control industrial robotic manipulators. For industrial robots and manipulators, which usually have highly nonlinear and complex dynamic equations and often have unknown inertia characteristics, it is very difficult to achieve...
    Resource Type:
    Dissertation
    Full Text:
    performance. (2) A plant whose performance should be as close as possible to that of the reference model

  • A model reference adaptive system for control of a flexible mechanical manipulator

    Creator:
    Lee, Byeung Kyun
    Abstract:
    For control of a flexible manipulator, the assumed- mode method is applied to the mathematical model of the model reference adaptive system. In the assumed-mode method, the flexible, continuous manipulator is described by a limited number of degrees of freedom. A modified model reference adaptive system is studied for direct...
    Resource Type:
    Dissertation
    Full Text:
    A model reference adaptive system for control of a

  • The phase diagram of zirconium and chromium with special reference to the transformation in the intermetalic compound ZrCr₂

    Creator:
    Shen, Yuan-shou
    Abstract:
    The zirconium-chromium phase diagram was investigated in the region between 40% and 85% chromium. The ZrCr₂ intermetallic compound which has been the source of some controversy was especially considered. It was found that ZrCr₂ transforms from the low temperature C-15 (MgCu₂, FCC) structure to the high temperature C-14 (MgZn₂, HCP)...
    Resource Type:
    Dissertation
    Full Text:
    reference to the transformation in the intermetallic compound ZrCr2 AN ABSTRACT OF THE THESIS OF YUAN

  • A study of solidification dynamics with liquid mass influx

    Creator:
    Thirunavukarasu, Balamurugesh
    Abstract:
    A computational model is developed to study the effects of alumina layer formation on an ablative surface when exposed to high temperature particle laden gas flow. The solidification dynamics i.e., the solid and liquid alumina layer growth rate, and the heat transferred to the ablative surface are investigated. A one-dimensional...
    Resource Type:
    Masters Thesis
    Full Text:
    the degree of Master of Science in Mechanical Engineering presented on April 7, 2003. Title: A Study

  • Solutions of plate equation for the prediction of ink droplets in inkjet cartridges

    Creator:
    Sangplung, Saangrut
    Abstract:
    Droplet formation in inkjet cartridges has been studied for several decades to improve print qualities. Currents and rigid nozzle plates are used inside the cartridge to fix the size of droplets exiting the chamber. This research is focused on studying the effect of nozzle flexibility on droplet formation. A flexible...
    Resource Type:
    Masters Thesis
    Full Text:
    of Master of Science in Mechanical Engineering presented on August 29, 2003. Title: Solutions of

  • Laminate mixing in microscale fractal-like merging channel networks

    Creator:
    Enfield, Kent E.
    Abstract:
    A two-dimensional model was developed to predict concentration profiles from passive, laminar mixing of concentration layers formed in a fractal-like merging channel network. Both flat and parabolic velocity profiles were used in the model. A physical experiment was used to confirm the results of the model. Concentration profiles were acquired...
    Resource Type:
    Masters Thesis
    Full Text:
    Master of Science in Mechanical Engineering presented on April 7, 2003. Title: Laminate Mixing in

  • Quantitative comparison of full field strains experimentally measured and analytically predicted for aluminum foams

    Creator:
    Rutschman, Scott A.
    Abstract:
    Metallic foams have become widely available and have unique properties that make them attractive for use in a variety of engineering applications. Due to their complex structure, the behavior of foams under complex loading conditions is a subject of continued research. Digital volume correlation is a technique wherein full-field strains...
    Resource Type:
    Masters Thesis
    Full Text:
    of Master of Science in Mechanical Engineering presented on June 12. 2003. Title: Quantitative

  • Processing bulk metallic glass from the molten state

    Creator:
    McCracken, Ivan A.
    Abstract:
    This paper documents the investigation into injection molding, or die casting, a bulk metallic glass (BMG). A BMG is an amorphous metal of a thickness greater than 25 μm, according to leading researchers in the field. This critical thickness differentiates a normal metallic glass from a "bulk" metallic glass. The...
    Resource Type:
    Masters Thesis
    Full Text:
    presentedon April 25, 2003. Title: Processing Bulk Metallic Glass from the Molten State Abstract approved

  • A numerical model of drop-on demand droplet formation from a vibrating nozzle and a rigid nozzle

    Creator:
    Yang, Guozhong
    Abstract:
    Droplet formation from a rigid and a vibration nozzle driven by a pulsing pressure is simulated. Droplet formation is simulated by using one-dimensional model. For the case of droplet formation from a vibration nozzle, the nozzle vibration is simulated by large deflection plate vibration equation. Droplet formation from a rigid...
    Resource Type:
    Masters Thesis
    Full Text:
    equations in a non-moving coordinate frame of reference: dr r au+-----=O (3.5) dt 2 az du 1 I a " 1 a2u I

  • A study of cavitation instabilities in solids

    Creator:
    Puttapitukporn, Tumrong
    Abstract:
    Cavitation instabilities in elastic-plastic solids under spherically-symmetric and axisymmetric loadings were investigated using the finite element method. Both quasi-static and dynamic analyses were used to solve these problems. In the quasi-static analyses, we investigated a cavitation instability in elastic/perfectly-plastic, linear hardening elastic-plastic, power hardening elasticplastic, and constrained silver materials. Here,...
    Resource Type:
    Dissertation
    Full Text:
    degree of Doctor of Philosophy in Mechanical Engineering presented on February 27, 2003. Tile: A Study of