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- Title
- Seakeeping response of a Surface Effect Ship in near-shore transforming seas.
- Creator
- Kindel, Michael., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
Scale model tests are conducted of a Surface Effect Ship in a near-shore developing sea. A beach is built and installed in a wave tank, and a wavemaker is built and installed in the same wave tank. This arrangement is used to simulate developing sea conditions and a 1:30 scale model SES is used for a series of experiments. Pitch and heave measurements are used to investigate the seakeaping response of the vessel in developing seas. The air-cushion pressure and the vessel speed are varied, and...
Show moreScale model tests are conducted of a Surface Effect Ship in a near-shore developing sea. A beach is built and installed in a wave tank, and a wavemaker is built and installed in the same wave tank. This arrangement is used to simulate developing sea conditions and a 1:30 scale model SES is used for a series of experiments. Pitch and heave measurements are used to investigate the seakeaping response of the vessel in developing seas. The air-cushion pressure and the vessel speed are varied, and the seakeeping results are compared as functions of these two parameters. The experiment results show a distinct correlation between the air-cushion pressure and the response amplitude of both pitch and heave. The results of these experiments are compared against results of a computer model of a Surface Effect Ship (SES).
Show less - Date Issued
- 2012
- PURL
- http://purl.flvc.org/FAU/3355563
- Subject Headings
- Naval architecture, Fluid dynamics, Wave motion, Theory of, Ships, Hydrodynamics
- Format
- Document (PDF)
- Title
- Selection of manufacturing tolerances for open-chain mechanisms.
- Creator
- Kumar, Arun., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
Flexible manufacturing systems play an important role in modern industries. The equipment used in flexible manufacturing systems such as industrial robots, NC machines, conveyors etc. demand high performance and accuracies. The selection of manufacturing tolerances is critical in deciding the accuracy of the mechanism and the manufacturing cost. In the present work a new kinematic model for open-chain mechanism is proposed which will help the designer in selecting the manufacturing tolerances...
Show moreFlexible manufacturing systems play an important role in modern industries. The equipment used in flexible manufacturing systems such as industrial robots, NC machines, conveyors etc. demand high performance and accuracies. The selection of manufacturing tolerances is critical in deciding the accuracy of the mechanism and the manufacturing cost. In the present work a new kinematic model for open-chain mechanism is proposed which will help the designer in selecting the manufacturing tolerances. The model allows the designer to estimate the manufacturing cost for the required accuracy. By using the model and the cost function, a set of tolerances can be estimated to achieve the required accuracy and/or manufacturing cost. The end point location and the manufacturing cost of the mechanism are expressed as a functions of tolerances and major dimensions. By using these expressions one can optimize the tolerances based on (1) optimizing accuracy under the cost constraint, (2) optimizing cost under the accuracy constraint.
Show less - Date Issued
- 1992
- PURL
- http://purl.flvc.org/fcla/dt/14814
- Subject Headings
- Tolerance (Engineering), Machinery, Kinematics of
- Format
- Document (PDF)
- Title
- Self-Contained Soft Robotic Jellyfish with Water-Filled Bending Actuators and Positional Feedback Control.
- Creator
- Frame, Jennifer, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This thesis concerns the design, construction, control, and testing of a novel self-contained soft robotic vehicle; the JenniFish is a free-swimming jellyfish-like soft robot that could be adapted for a variety of uses, including: low frequency, low power sensing applications; swarm robotics; a STEM classroom learning resource; etc. The final vehicle design contains eight PneuNet-type actuators radially situated around a 3D printed electronics canister. These propel the vehicle when inflated...
Show moreThis thesis concerns the design, construction, control, and testing of a novel self-contained soft robotic vehicle; the JenniFish is a free-swimming jellyfish-like soft robot that could be adapted for a variety of uses, including: low frequency, low power sensing applications; swarm robotics; a STEM classroom learning resource; etc. The final vehicle design contains eight PneuNet-type actuators radially situated around a 3D printed electronics canister. These propel the vehicle when inflated with water from its surroundings by impeller pumps; since the actuators are connected in two neighboring groups of four, the JenniFish has bi-directional movement capabilities. Imbedded resistive flex sensors provide actuator position to the vehicle’s PD controller. Other onboard sensors include an IMU and an external temperature sensor. Quantitative constrained load cell tests, both in-line and bending, as well as qualitative free-swimming video tests were conducted to find baseline vehicle performance capabilities. Collected metrics compare well with existing robotic jellyfish.
Show less - Date Issued
- 2016
- PURL
- http://purl.flvc.org/fau/fd/FA00004656, http://purl.flvc.org/fau/fd/FA00004656
- Subject Headings
- Adaptive control systems, Artificial intelligence, Autonomous robots, Computational intelligence, Robotics
- Format
- Document (PDF)
- Title
- Semi-Autonomous Control of Robotic Arm with Haptic Feedback and Closed Loop Force Controller.
- Creator
- Al-Saidi, Mostapha, Engeberg, Erik, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
- Abstract/Description
-
This thesis presents the work done to deliver a robotic system that provides assistance to operators at nuclear waste cleaning facilities. The work done to deliver such system was focused on robotic control and tactile sensing abilities. Haptic feedback mechanism was also added to the system to convey information for the operator. First chapter of the thesis introduces the goals and objectives of this project as well as a detailed literature review on the subsystems used. Second chapter...
Show moreThis thesis presents the work done to deliver a robotic system that provides assistance to operators at nuclear waste cleaning facilities. The work done to deliver such system was focused on robotic control and tactile sensing abilities. Haptic feedback mechanism was also added to the system to convey information for the operator. First chapter of the thesis introduces the goals and objectives of this project as well as a detailed literature review on the subsystems used. Second chapter presents previous work done in the area of soft robotics. Such work proved important as the haptic feedback mechanism utilizes a soft robotic armband. Third chapter introduces phase one of the main project. This chapter justifies the use of the selected robots and introduces the concept of adding tactile abilities to the robotic hand used. Chapter four introduces phase two of the project that focused on improving phase one system via a new tactile sensor.
Show less - Date Issued
- 2019
- PURL
- http://purl.flvc.org/fau/fd/FA00013353
- Subject Headings
- Robotics, Haptic devices, Actuators, Tactile sensors
- Format
- Document (PDF)
- Title
- Sensitivity analysis for machine cell formation using mathematical model and computer simulation.
- Creator
- Yelamanchi, Ravi., Florida Atlantic University, Han, Chingping (Jim), College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This thesis presents a mathematical model for the sensitivity analysis of machine cell formation. Computer programs in C were developed. A statistical simulation model is developed to test and verify the mathematical model. The data for machine cell formation in cellular manufacturing is organized in a machine component chart representing the machining requirements of parts in the product mix. The existing machine cell formation models treat the product mix as deterministic. To study the...
Show moreThis thesis presents a mathematical model for the sensitivity analysis of machine cell formation. Computer programs in C were developed. A statistical simulation model is developed to test and verify the mathematical model. The data for machine cell formation in cellular manufacturing is organized in a machine component chart representing the machining requirements of parts in the product mix. The existing machine cell formation models treat the product mix as deterministic. To study the probabilistic nature of the cellular manufacturing, a sensitivity analysis model is presented. The model optimizes the formation of intercellular material handling cost for the machine cell within the constrains of the probability of the product mixture. The results of the mathematical model is compared with the results of the simulation model. It shows that the probabilistic product mix has a influence on the efficiency of the machine cell and the associated total cost.
Show less - Date Issued
- 1992
- PURL
- http://purl.flvc.org/fcla/dt/14848
- Subject Headings
- Group technology--Simulation methods, Manufacturing processes--Data processing
- Format
- Document (PDF)
- Title
- Sensor based mapping and navigation for underwater robots.
- Creator
- Scarim, Philip F., Florida Atlantic University, Steer, Barry, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This thesis presents a mapping and navigation system intended for an unmanned untethered underwater vehicle. The system utilizes range data obtained from a time of flight sonar operating at 307KHz. The range data, along with an angle measurement of the transducer, is used to generate a simple object map (detected object and its position in two dimensions). The raw range data is filtered using an edge detection algorithm. The edge detection algorithm extracts possible corners from the acoustic...
Show moreThis thesis presents a mapping and navigation system intended for an unmanned untethered underwater vehicle. The system utilizes range data obtained from a time of flight sonar operating at 307KHz. The range data, along with an angle measurement of the transducer, is used to generate a simple object map (detected object and its position in two dimensions). The raw range data is filtered using an edge detection algorithm. The edge detection algorithm extracts possible corners from the acoustic data of the scanned environment. The output of the edge detection algorithm is sent to a confidence program. The confidence program determines which of the possible "corners", determined by the edge detection algorithm, are "actual" corners. The output of the confidence program is then used to produce the object map. This object map may be used as the input to an annotated map-builder. The output of the confidence program is then input to the navigation system. The navigation system determines the position of the vehicle relative to a detected object without any a-priori information, which may be used as an input to a path planner and an obstacle avoidance system. The experiments were carried out in a 25 x 30 foot pool and the experimental data processed on a Sun Workstation using Matlab and C generated code for post-processing of the raw acoustical data.
Show less - Date Issued
- 1996
- PURL
- http://purl.flvc.org/fcla/dt/15263
- Subject Headings
- Robots, Underwater navigation
- Format
- Document (PDF)
- Title
- Separation flow around airfoil with upstream disturbance by discrete vortex method.
- Creator
- Li, Feng., Florida Atlantic University, Su, Tsung-Chow, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
The discrete vortex method was applied to the calculation of separation flow past NACA 4412 airfoil: Vortex panel was used to represent the body surface and discrete vortices were used to model the wake. Generally the uniform upstream condition is used in the calculation of separation flow. But actually an airfoil could move in wake of other airfoils or disturbed fluid. In this thesis, discrete vortices were used to model the upstream disturbance to investigate the effect of upstream...
Show moreThe discrete vortex method was applied to the calculation of separation flow past NACA 4412 airfoil: Vortex panel was used to represent the body surface and discrete vortices were used to model the wake. Generally the uniform upstream condition is used in the calculation of separation flow. But actually an airfoil could move in wake of other airfoils or disturbed fluid. In this thesis, discrete vortices were used to model the upstream disturbance to investigate the effect of upstream disturbance to the pressure, lift and drag coefficients around the airfoil. Also the animation of separation flow was made on HP workstation using "Starbase" computer graphic package to study the separation process.
Show less - Date Issued
- 1991
- PURL
- http://purl.flvc.org/fcla/dt/14739
- Subject Headings
- Vortex-motion, Fluid dynamics
- Format
- Document (PDF)
- Title
- SERVICEABILITY OF REINFORCED CONCRETE BEAMS SUBJECTED TO ACCELERATED CORROSION (ACOUSTIC EMISSION, DAMAGE, REMAINING STRENGTH/LIFE, TESTING).
- Creator
- TITUS, REJI NINAN K., Florida Atlantic University, Reddy, Dronnadula V., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
Steel reinforced concrete beams were placed in contact with seawater in a state of accelerated corrosion, for varying periods of time. Some of them were simultaneously monitored for acoustic emission and the results were analyzed to evaluate the effectiveness of acoustic emission as a non-destructive monitor of corrosion induced damage. It was shown that, in a laboratory environment, counts are good indicators of the extent of corrosion damage. A review of acoustic emission monitoring...
Show moreSteel reinforced concrete beams were placed in contact with seawater in a state of accelerated corrosion, for varying periods of time. Some of them were simultaneously monitored for acoustic emission and the results were analyzed to evaluate the effectiveness of acoustic emission as a non-destructive monitor of corrosion induced damage. It was shown that, in a laboratory environment, counts are good indicators of the extent of corrosion damage. A review of acoustic emission monitoring techniques and theoretical background is included. The concrete beams were tested for flexural strength after being corroded. Reduction in rebar section was found to have a very good correlation with da mage. An attempt was made to predict remaining life of the beams based on data obtained from the tests.
Show less - Date Issued
- 1986
- PURL
- http://purl.flvc.org/fcla/dt/14310
- Subject Headings
- Reinforced concrete--Corrosion
- Format
- Document (PDF)
- Title
- Settling of fine particles.
- Creator
- Kim, Hung Soo., Florida Atlantic University, Scarlatos, Panagiotis (Pete) D., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This study pertaining to the settling of fine particles is developed using various models and formulas. The model considers two layers, i.e, the suspension zone dominated by perikinetic flocculation and the settling zone governed by gravitational force. In the suspension zone, floc formation of fine particles is simulated by the maximum chain model in which floc parameters and fractal dimension are compared with existing data. In addition, fractal dimension is compared with that of the...
Show moreThis study pertaining to the settling of fine particles is developed using various models and formulas. The model considers two layers, i.e, the suspension zone dominated by perikinetic flocculation and the settling zone governed by gravitational force. In the suspension zone, floc formation of fine particles is simulated by the maximum chain model in which floc parameters and fractal dimension are compared with existing data. In addition, fractal dimension is compared with that of the hierarchical model. The main assumption of the model is that any floc having sixteen particles outweighs Brownian force, and thus the floc starts falling down into the settling zone. The flocs moving from the suspension zone are considered as nonspherical particles in the settling zone. The study uses a dimensionless settling velocity, omega*, for estimation of the sedimentation of flocs. Settling causes aggregation of the depositing flocs. The form of these aggregates is analyzed by the fractal relationship P ~ L delta.
Show less - Date Issued
- 1992
- PURL
- http://purl.flvc.org/fcla/dt/14872
- Subject Headings
- Fluid dynamics, Flow visualization
- Format
- Document (PDF)
- Title
- Simulating the dynamic interaction of an AUV and towed magnetometer.
- Creator
- Miller, Lea Gabrielle., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
A magnetometer with a sensitivity of 0.01nT will be towed through the thermocline by a 2.87 meter long, 0.533 meter diameter autonomous underwater vehicle (AUV) to measure the magnetic fluctuations generated by oceanic internal waves. At this point, no research has been found that suggests towed magnetometer measurements have been done using an AUV. Simulations of the AUV, tow cable, and towfish are performed to provide an understanding of the effects of changing different input parameters,...
Show moreA magnetometer with a sensitivity of 0.01nT will be towed through the thermocline by a 2.87 meter long, 0.533 meter diameter autonomous underwater vehicle (AUV) to measure the magnetic fluctuations generated by oceanic internal waves. At this point, no research has been found that suggests towed magnetometer measurements have been done using an AUV. Simulations of the AUV, tow cable, and towfish are performed to provide an understanding of the effects of changing different input parameters, such as towing speed (0.5-2m/s), cable length (5-15m), vehicle trajectory (circle and vertical zig zag maneuvers), and current (0.25-1.25m/s). The AUV-cabletowfish system and equations of motion needed for the simulations are described herein. Results show that a 5m tow cable provides better towfish maneuvering than the longer cable lengths. High towfish pitch angle is decreased by decreasing the distance between CG and CB. Surface currents speed of 0.25m/s change the AUV and towfish circle maneuver to a spiral trajectory, while 1.25m/s current speed cause a zig zag trajectory.
Show less - Date Issued
- 2011
- PURL
- http://purl.flvc.org/FAU/3318670
- Subject Headings
- Automatic control, Mathematical models, Electromagnetic measurements, Fluctuations (Physics), Oceanographic submersibles, Computer simulation
- Format
- Document (PDF)
- Title
- Simulation and modeling of flow field around a horizontal axis wind turbine (HAWT) using RANS method.
- Creator
- Sargsyan, Armen., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
The principal objective of the proposed CFD analysis is to investigate the flow field around a horizontal axis wind turbine rotor and calculate the turbine's power. A full three dimensional computational fluid dynamics method based on Reynolds Averaged Navier Stokes approach was used in this study. The wind turbine has three blades and a rotor diameter of six meters. One third of the wind turbine rotor was modeled by means of 120o periodicity in a moving reference frame system. The power...
Show moreThe principal objective of the proposed CFD analysis is to investigate the flow field around a horizontal axis wind turbine rotor and calculate the turbine's power. A full three dimensional computational fluid dynamics method based on Reynolds Averaged Navier Stokes approach was used in this study. The wind turbine has three blades and a rotor diameter of six meters. One third of the wind turbine rotor was modeled by means of 120o periodicity in a moving reference frame system. The power coefficient curve obtained from the CFD results is compared with experimental data obtained by NREL Phase VI rotor experiment. The numerical result for the power coefficient curve shows close agreement with the experimental data. The simulation results include the velocity distribution, pressure distribution along the flow direction, turbulent wake behind the wind turbine, and the turbine's power. The discussion will also include the effect of wind speed on turbine's power.
Show less - Date Issued
- 2010
- PURL
- http://purl.flvc.org/FAU/2979383
- Subject Headings
- Wind turbines, Aerodynamics, Computer simulation, Fluid dynamics, Computational methods, Vibration (Aerodynamics)
- Format
- Document (PDF)
- Title
- Simulation of reflection tomographic images of underwater targets with the effect of vehicle motion sensing errors.
- Creator
- Quentin, Gwendoline., Florida Atlantic University, Schock, Steven G., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
The Buried Object Scanning Sonar (BOSS) is being developed at Florida Atlantic University to image targets buried under the seabed. Tomographic images are constructed using a sequence of sonar transmissions while the vehicle is moving. This motion causes image distortion and should be measured and removed by mapping the echoes received to an absolute coordinate system. The aim of this thesis is to develop and simulate a technique for generating BOSS images that provide an accurate...
Show moreThe Buried Object Scanning Sonar (BOSS) is being developed at Florida Atlantic University to image targets buried under the seabed. Tomographic images are constructed using a sequence of sonar transmissions while the vehicle is moving. This motion causes image distortion and should be measured and removed by mapping the echoes received to an absolute coordinate system. The aim of this thesis is to develop and simulate a technique for generating BOSS images that provide an accurate representation of target shape and size, by removing vehicle motion while mapping the image pixels. Synthetic acoustic data sets are generated by convolving the auto-correlated FM transmission pulse with the impulse response of an elastic sphere. Synthetic outputs of a Doppler velocity log and a 3-axis inertial measurement unit are generated to simulate vehicle motion. Noise is added to the sensor data to show the effects of motion sensor errors on image quality.
Show less - Date Issued
- 2003
- PURL
- http://purl.flvc.org/fcla/dt/13040
- Subject Headings
- Ocean tomography, Sonar, Underwater navigation
- Format
- Document (PDF)
- Title
- Simulation, control and optimization of underwater vehicle performance.
- Creator
- Zipf, David Glenn., Florida Atlantic University, Dunn, Stanley E., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of...
Show moreThis project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of integration. An automatic closed loop control strategy has been developed and integrated into the motion model. The controller determines control plane deflection and thruster output based on sensor provided input, maneuver request and control gain constants. The motion model simulates the effects of these controller requests on the vehicle motion. The controller effects are analyzed and an optimal set of control gains is determined. These optimal gains are determined based on a quantitative comparison of a pre-defined Performance Index (PI) function. The PI is a function of critical performance values, i.e., energy consumption, and user defined weighted constants. By employing an iteration technique the PI is minimized to provide an optimal set of control gains.
Show less - Date Issued
- 1989
- PURL
- http://purl.flvc.org/fcla/dt/14534
- Subject Headings
- Oceanographic submersibles--Automatic control, Oceanographic submersibles--Simulation methods, Vehicles, Remotely piloted
- Format
- Document (PDF)
- Title
- Simulations and feedback control of nonlinear coupled electromechanical oscillators for energy conversion applications.
- Creator
- Psarrou, Dimitrios., Dhanak, Manhar R., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This thesis discusses the coupling of a mechanical and electrical oscillator, an arrangement that is often encountered in mechatronics actuators and sensors. The dynamics of this coupled system is mathematically modeled and a low pass equivalent model is presented. Numerical simulations are then performed, for various input signals to characterize the nonlinear relationship between the electrical current and the displacement of the mass. Lastly a framework is proposed to estimate the mass...
Show moreThis thesis discusses the coupling of a mechanical and electrical oscillator, an arrangement that is often encountered in mechatronics actuators and sensors. The dynamics of this coupled system is mathematically modeled and a low pass equivalent model is presented. Numerical simulations are then performed, for various input signals to characterize the nonlinear relationship between the electrical current and the displacement of the mass. Lastly a framework is proposed to estimate the mass position without the use of a position sensor, enabling the sensorless control of the coupled system and additionally providing the ability for the system to act as an actuator or a sensor. This is of value for health monitoring, diagnostics and prognostics, actuation and power transfer of a number of interconnected machines that have more than one electrical system, driving corresponding mechanical subsystems while being driven by the same voltage source and at the same time being spectrally separated and independent.
Show less - Date Issued
- 2011
- PURL
- http://purl.flvc.org/FAU/3320109
- Subject Headings
- Renewable energy sources, Mechatronics, Nonlinear theories, Oscillators, System analysis
- Format
- Document (PDF)
- Title
- Simulator and location-aware routing protocol for mobile ad hoc acoustic networks of AUVs.
- Creator
- Carlson, Edward A., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
Acoustic networks of autonomous underwater vehicles (AUVs) show great promise, but a lack of simulation tools and reliance on protocols originally developed for terrestrial radio networks has hindered progress. This work addresses both issues. A new simulator of underwater communication among AUVs provides accurate communication modeling and flexible vehicle behavior, while a new routing protocol, location-aware source routing (LASR) provides superior network performance. The new simulator...
Show moreAcoustic networks of autonomous underwater vehicles (AUVs) show great promise, but a lack of simulation tools and reliance on protocols originally developed for terrestrial radio networks has hindered progress. This work addresses both issues. A new simulator of underwater communication among AUVs provides accurate communication modeling and flexible vehicle behavior, while a new routing protocol, location-aware source routing (LASR) provides superior network performance. The new simulator was used to evaluate communication without networking, and then with networking using the coding or dynamic source routing (DSR) protocols. The results confirmed that a network was essential to ensure effective fleet-wide communication. The flooding protocol provided extremely reliable communication but with low message volumes. The DSR protocol, a popular routing protocol due to its effectiveness in terrestrial radio networks, proved to be a bad choice in an acoustic environment: in most cases, it suffered from both poor reliability and low message volumes. Due to the high acoustic latency, even moderate vehicle speeds caused the network topology to change faster than DSR could adapt. DSR's reliance on shortest-path routing also proved to be a significant disadvantage. Several DSR optimizations were also tested; most proved to be unhelpful or actually harmful in an underwater acoustic network. LASR was developed to address the problems noted in flooding and DSR. LASR was loosely derived from DSR, most significantly retaining source routes and the reply/request route discovery technique. However, LASR added features which proved, in simulation, to be significant advantages -- two of the most effective were a link/route metric and a node tracking system. To replace shortest-path routing, LASR used the expected transmission count (ETX) metric., This allowed LASR to make more informed routing decisions which greatly increased performance compared to DSR. The node tracking system was the most novel addition: using only implicit communication coupled with the use of time-division multiple access (TDMA), the tracking system provided predicted node locations. These predictions made it possible for LASR to proactively respond to topology changes. In most cases, LASR outperformed flooding and DSR in message delivery reliability and message delivery volume.
Show less - Date Issued
- 2009
- PURL
- http://purl.flvc.org/FAU/187208
- Subject Headings
- Ad hoc networks (Computer networks), Computer network protocols, Routers (Computer networks), Mobile communication systems, Design and construction, Remote submersibles, Design and construction
- Format
- Document (PDF)
- Title
- Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing.
- Creator
- Holdar, Mohammad, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
Traditional robots are made from hard materials like hard plastic or metal and consist of regular rigid mechanical parts. Using those parts has some limitations, like limited dexterity and lack of flexibility. Some of these limitations could be avoided through using a compliant material, because it has higher flexibility and dexterity. It is also safer to be in direct contact with humans. This thesis studies soft pneumatic manipulators (SPMs) that move in multi degrees of freedom (MDOF),...
Show moreTraditional robots are made from hard materials like hard plastic or metal and consist of regular rigid mechanical parts. Using those parts has some limitations, like limited dexterity and lack of flexibility. Some of these limitations could be avoided through using a compliant material, because it has higher flexibility and dexterity. It is also safer to be in direct contact with humans. This thesis studies soft pneumatic manipulators (SPMs) that move in multi degrees of freedom (MDOF), which makes them able to perform various functions. The study will include designing, fabricating, and testing three different SPMs with different taper angles -- 0^0, 1^0, and 2^0 -- to measure the effect of varying this geometry on the achievable force by the end effector and the range of bending and elongation. Every single SPM consists of three soft pneumatic chambers to reach unlimited points on its workspace through implementing bending and elongating movements. There are a lot of applications for this kind of soft actuators, like rehabilitation, underwater utilizes, and robots for surgery and rescues. Most soft pneumatic actuators provide one kind of movement, for bending, twisting, or elongating. Combining more than one kind of movement in one soft pneumatic actuator provides considerable contributions to the body of research. The SPMs were controlled and tested to evaluate the achieved force and two kinds of movement, bending and elongating range. The results of each module has been compared with the others to determine which actuator has the best performance. Then a force controller was created to maintain the desired force that was achieved by the end effector. The results indicated that the optimal angle of the SPM was 2^0.
Show less - Date Issued
- 2018
- PURL
- http://purl.flvc.org/fau/fd/FA00013030
- Subject Headings
- Robotics, Pneumatic control, Actuators--Design and construction, Soft robotics
- Format
- Document (PDF)
- Title
- Software development of a hardware-in-the-loop simulation and a three-dimensional viewer for autonomous underwater vehicles.
- Creator
- Mahieu, Frederi., Florida Atlantic University, An, Edgar, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This thesis describes the development of the hardware-in-the-loop simulation for FAU Autonomous Underwater Vehicles. The development was based on the existing simulation platform. For more efficiency and flexibility, this simulation package was ported to Linux. The hardware-in-the-loop simulation enables developers to connect the vehicle directly to a remote simulator. This kind of simulation is used to test the actual software components embedded in the vehicle system. The simulation package...
Show moreThis thesis describes the development of the hardware-in-the-loop simulation for FAU Autonomous Underwater Vehicles. The development was based on the existing simulation platform. For more efficiency and flexibility, this simulation package was ported to Linux. The hardware-in-the-loop simulation enables developers to connect the vehicle directly to a remote simulator. This kind of simulation is used to test the actual software components embedded in the vehicle system. The simulation package was enhanced by the addition of a 3D viewer. This thesis describes the whole development process, from feasibility study and implementation to qualification phases. This viewer is platform independent and designed to be connected to the simulator. It renders the AUV moving in a virtual environment. This tool can be used during all development steps, from tuning phases to post-mission analysis.
Show less - Date Issued
- 2000
- PURL
- http://purl.flvc.org/fcla/dt/15778
- Subject Headings
- Oceanographic submersibles--Computer simulation, Computer software--Development, Simulation methods, Three-dimensional display systems
- Format
- Document (PDF)
- Title
- Soil-geosynthetic reinforcement interaction for mechanically stabilized earth (MSE) wall systems.
- Creator
- Navarrete, Fernando Manuel., Florida Atlantic University, Reddy, Dronnadula V., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
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The dissertation is an experimental and analytical investigation of the long term performance of mechanically stabilized earth (MSE) walls with geosynthetics, with particular focus on rational methods to enable the determination of the applicable factors for use in Load Resistance Factor Design (LRFD). An overview of current issues concerning MSE walls is followed by an extensive literature review addressing MSE walls, pullout strength, creep and creep rupture, durability and degradation,...
Show moreThe dissertation is an experimental and analytical investigation of the long term performance of mechanically stabilized earth (MSE) walls with geosynthetics, with particular focus on rational methods to enable the determination of the applicable factors for use in Load Resistance Factor Design (LRFD). An overview of current issues concerning MSE walls is followed by an extensive literature review addressing MSE walls, pullout strength, creep and creep rupture, durability and degradation, design methodology, analytical prediction, and field evaluation of MSE walls. The experimental tasks comprise: (i) creep and creep rupture, (ii) durability and degradation, (iii) small scale testing of MSE walls with a model prototype ratio of 1:5.5, and (iv) construction of prototype MSE wall and instrumentation for long-term performance. The analytical work comprises finite difference modeling using the Fast Lagrangian Analysis of Continua (FLAC) software, (i) For creep up to 10,000 hours accelerated exposure for HDPE and PET geogrids, with super-ambient temperatures and soil water conditions related to soil conditions in Florida, the significant part of creep was due to temperatures and not solution exposures, with creep rupture occurring primarily for HDPE. (ii) For durability, performance at ambient temperatures was extrapolated, based on the Arrhenius method. The variation in degradation between the different solutions was minimal, indicating hydrolysis as the main cause for PET at elevated temperatures. (iii) Two HDPE and two PET reinforcement small scale (1:5.5) MSE walls were tested, with different surcharges each for 72 hour periods. Panel movements, strains in the reinforcement, and wall settlements were measured, indicating values smaller than the predicted, mostly for the smaller surcharges due to distortion caused by scaling neglecting the gravity effect. (iv) For analysis with FLAC computer software, two correction factors "a" and "b" were applied to correct the discrepancies between the model and the test values. The PET MSE small scale wall showed more deviation because the material has a low modulus of elasticity. (v) A preliminary comparison of the small scale and the prototype MSE wall behavior indicated discrepancies due to distortion scaling related to the lack of gravity simulation.
Show less - Date Issued
- 2001
- PURL
- http://purl.flvc.org/fcla/dt/11968
- Subject Headings
- Geosynthetics, Load factor design, Retaining walls, Soil stabilization
- Format
- Document (PDF)
- Title
- Some corrosion problems associated with underwater turbines.
- Creator
- Miglis, Yohann., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
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This thesis deals with corrosion problems of underwater turbines in marine environment. The effect of a tensile stress on the uniform corrosion rate of a metal bar is studied, and an analytical model predicting the time of service of a bar under a tensile load in a corrosive environment is proposed. Stress corrosion relationships are provided for different type of alloys, and different types of relationships. Dolinskii's and Gutman's models are studied and extended to a general order...
Show moreThis thesis deals with corrosion problems of underwater turbines in marine environment. The effect of a tensile stress on the uniform corrosion rate of a metal bar is studied, and an analytical model predicting the time of service of a bar under a tensile load in a corrosive environment is proposed. Stress corrosion relationships are provided for different type of alloys, and different types of relationships. Dolinskii's and Gutman's models are studied and extended to a general order polynomial, along with a Least Square and Spline Interpolation of the experimental data. In a second part, the effect of the passive film, delaying the initiation of the corrosion process, is studied. Finally, an algorithm predicting the time of service of a cracked bar is provided, using the stress corrosion assumption, along with a validation using experimental data.
Show less - Date Issued
- 2012
- PURL
- http://purl.flvc.org/FAU/3342238
- Subject Headings
- Turbines, Stress corrosion, Testing, Computational fluid dynamics, Stress corrosion, Fracture mechanics, Measurement, Alloys, Stress corrosion, Testing, Alloys, Corrosion fatigue, Testing
- Format
- Document (PDF)
- Title
- Some topics related to the vibrations of deterministic and non-deterministic metamaterial structures.
- Creator
- Li, Yuchen, Elishakoff, Isaac, Challamel, Noël, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
- Abstract/Description
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In this thesis, we will explore different kinds of metamaterial or architectural structural problems, including structures composed of heterogeneous media with bi periodic sub-structures, discrete structures with sub-elements or continuous structures with discrete attached sub-elements. The thesis is composed of seven parts. After having introduced the specificities of metamaterial mechanics, the second chapter is devoted to the vibration of discrete beam problems called Hencky bar-chain...
Show moreIn this thesis, we will explore different kinds of metamaterial or architectural structural problems, including structures composed of heterogeneous media with bi periodic sub-structures, discrete structures with sub-elements or continuous structures with discrete attached sub-elements. The thesis is composed of seven parts. After having introduced the specificities of metamaterial mechanics, the second chapter is devoted to the vibration of discrete beam problems called Hencky bar-chain model in a stochastic framework. It is shown that the lattice beam behaves as a nonlocal continuous beam problem, both in the deterministic and the non-deterministic analyses. The third chapter considers the vibration of continuous beams with the introduction of shear effects and attached periodically oscillators. A discussion on beam modelling, for example Timoshenko beam models or truncated Timoshenko beam models is included. It is shown that the bandgap phenomenon observed for metamaterial beams can be accurately captured by a truncated Timoshenko beam model which means the last term in the Timoshenko equation is not that important.
Show less - Date Issued
- 2023
- PURL
- http://purl.flvc.org/fau/fd/FA00014289
- Subject Headings
- Metamaterials, Hencky bar-chain model, Lattice theory, Engineering
- Format
- Document (PDF)