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...
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...
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....
A distinct characteristic of legged locomotion is its periodic nature. This periodic motion, in the form of a periodic orbit, has been the target of many walking and running control strategies. The spring loaded inverted pendulum (SLIP) has become a popular model of sagittal plane locomotion, exhibiting behavior characteristic of...
A brake-based wheel speed control system for a rear-wheel drive vehicle is developed and simulated in this thesis. The OSU mini-Baja vehicle team will use this study in the development and implementation of a similar system for upcoming competitions. Vehicle submittals must differ to a specified degree from previous year’s...
A PID controller was designed to control the performance of an oil-heated fractal-like branching microchannel desorber for use in an ammonia-absorption refrigeration system. Both the amount and concentration of ammonia refrigerant generated at the desorber can be controlled by choosing the rectified circulation ratio as the controlled variable in a...