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Ejection of rear facing, golf cart passenger
Title
Ejection of rear facing, golf cart passenger.
Creator
Schau, Kyle A., Masory, Oren
Date Issued
2013-04-05
PURL
http://purl.flvc.org/fcla/dt/3361177
Subject Headings
Golf carts, Seat Belts, Passenger
Format
Document (PDF)
Crashworthiness of Low Speed Vehicles
Title
Crashworthiness of Low Speed Vehicles.
Creator
Cusano, Emma, Francis, Sherwin, Pinto, Michael, Masory, Oren, Office of Undergraduate Research and Inquiry
Abstract/Description
The Crashworthiness of Low Speed Vehicles is to be determined using a custom built crash testing apparatus. The safety of golf carts is often overlooked because they are considered “low risk” vehicles. The danger of these vehicles lies in the fact that they aren’t mandated to have safety features outside of seatbelts. A test rig that sufficiently tested how these vehicles react under extreme conditions as well as the risk to the occupants was designed and operated through several iterations....
Show moreThe Crashworthiness of Low Speed Vehicles is to be determined using a custom built crash testing apparatus. The safety of golf carts is often overlooked because they are considered “low risk” vehicles. The danger of these vehicles lies in the fact that they aren’t mandated to have safety features outside of seatbelts. A test rig that sufficiently tested how these vehicles react under extreme conditions as well as the risk to the occupants was designed and operated through several iterations. The main components of the rig was be a motorized variable speed pulley system, concrete barrier, and a simple quick release mechanism to detach the cart, and crash dummies with sensors to record the experienced acceleration/ deceleration and gyration. The main parameters that were studied in relation to crashworthiness are structural performance, injury measures and dummy movement. It was the goal of the experimenters to show just how important it is to design LSVs with higher safety standards.
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Date Issued
2016
PURL
http://purl.flvc.org/fau/fd/FA00005565
Subject Headings
College students --Research --United States.
Format
Document (PDF)
Analysis of factors affecting the sound generated by airboats
Title
Analysis of factors affecting the sound generated by airboats.
Creator
Perez, Aquiles., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
This study presents an experimental and analytical investigation of the factors that affect the sound generated by airboats as well as the interaction among these factors; an airboat travels on water and wet land by means of an air pusher propeller attached to an internal combustion engine. These analyses show that the engine and propeller RPM are the main contributors of sound. The contribution of the engine is a tonal sound that is reduced by using a muffler. The sound generated by the...
Show moreThis study presents an experimental and analytical investigation of the factors that affect the sound generated by airboats as well as the interaction among these factors; an airboat travels on water and wet land by means of an air pusher propeller attached to an internal combustion engine. These analyses show that the engine and propeller RPM are the main contributors of sound. The contribution of the engine is a tonal sound that is reduced by using a muffler. The sound generated by the propeller is a flapping sound clearly identified at high revolutions (over 1800 RPM). Above mid-range speeds, the propeller sound takes over, and any reduction of sound on the muffler does not play any role. The only method to control the sound of an airboat without any design modifications is to maintain the operational RPM at mid-range when the muffler's devices contribute to the sound reduction.
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Date Issued
2006
PURL
http://purl.flvc.org/fcla/dt/13347
Subject Headings
Internal combustion engines--Noise, Noise control
Format
Document (PDF)
Development of a controller for a Stewart platform
Title
Development of a controller for a Stewart platform.
Creator
Marquis, Lawrence Paul., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
A Stewart platform is a six degree of freedom robot manipulator with its six links arranged in a parallel configuration. A dynamic model for the plant of each link, which consists of an amplifier, an electrohydraulic servo valve, and a hydraulic actuator, is found from open-loop step and frequency responses. To determine a model for the complete closed loop system, integrators located in the link input and feedback paths were added to the plant's model. PID controllers were designed to...
Show moreA Stewart platform is a six degree of freedom robot manipulator with its six links arranged in a parallel configuration. A dynamic model for the plant of each link, which consists of an amplifier, an electrohydraulic servo valve, and a hydraulic actuator, is found from open-loop step and frequency responses. To determine a model for the complete closed loop system, integrators located in the link input and feedback paths were added to the plant's model. PID controllers were designed to increase the system's bandwidth. Once control of the individual links was achieved, control algorithms were developed to control the motion of Stewart platform. The algorithm would move the platform through its initialization sequence, then control platform velocity, as dictated by the user.
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Date Issued
1992
PURL
http://purl.flvc.org/fcla/dt/14849
Subject Headings
Manipulators (Mechanism), Robots--Control systems
Format
Document (PDF)
Development of a graphical user interface for a Stewart platform
Title
Development of a graphical user interface for a Stewart platform.
Creator
Subramanian, Chenthilvel Muthukumaran., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
A user friendly graphical interface was developed to control a Stewart platform which is a six degree-of-freedom in-parallel mechanism. The interface allows the user to define the platform motion relative to various coordinate systems: base, platform and joint. The velocity/position reference to the platform's controller can be provided by the following ways: preprogrammed data file, serial communication RS-232, 6 degrees of freedom joystick and soft teach pendant. The platform was designed...
Show moreA user friendly graphical interface was developed to control a Stewart platform which is a six degree-of-freedom in-parallel mechanism. The interface allows the user to define the platform motion relative to various coordinate systems: base, platform and joint. The velocity/position reference to the platform's controller can be provided by the following ways: preprogrammed data file, serial communication RS-232, 6 degrees of freedom joystick and soft teach pendant. The platform was designed to be used as "Space Emulator" and therefore a 6 degrees of freedom force/torque sensor was needed. Two different models of such sensors were designed and analyzed using finite element analysis techniques. Based on the results one particular model was selected, fabricated, instrumented with strain gages and calibrated in order to obtain its stiffness matrix. The effect of drifting of the sensor output due to self heating of the strain gages and the electronic components of the strain gage amplifiers was also studied.
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Date Issued
1993
PURL
http://purl.flvc.org/fcla/dt/14941
Subject Headings
Robots--Control systems, Robotics--Calibration, Manipulators (Mechanism), Finite element method, Graphical user interfaces (Computer systems)
Format
Document (PDF)
Tool wear monitoring using artificial neural networks
Title
Tool wear monitoring using artificial neural networks.
Creator
Kurapati, Venkatesh., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
An on-line scheme for monitoring tool wear in unmanned machining operations using artificial neural networks (ANNs) is proposed. Various configurations of ANNs are studied to increase the accuracy of tool wear estimation. With this aim three configurations of the ANNs namely, an ANN without memory, an ANN with one phase memory, and an ANN with two phase memory are considered. Each ANN is trained to associate an input vector which consists of values of cutting conditions, with an output vector...
Show moreAn on-line scheme for monitoring tool wear in unmanned machining operations using artificial neural networks (ANNs) is proposed. Various configurations of ANNs are studied to increase the accuracy of tool wear estimation. With this aim three configurations of the ANNs namely, an ANN without memory, an ANN with one phase memory, and an ANN with two phase memory are considered. Each ANN is trained to associate an input vector which consists of values of cutting conditions, with an output vector containing flank wear as a single output. The training data and evaluation data is generated using the popular analytical tool wear model. The performance of all the ANNs are compared by considering four different cases of evaluation data. The proposed scheme of tool wear modeling using ANNs is easily extendible to include other cutting parameters and can be implemented in real-time.
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Date Issued
1992
PURL
http://purl.flvc.org/fcla/dt/14868
Subject Headings
Neural networks (Computer science), Flexible manufacturing systems, Power tools, Machine tools--Data processing
Format
Document (PDF)
Trajectory control of a new class of CNC machine tools
Title
Trajectory control of a new class of CNC machine tools.
Creator
Xiu, Daoxi., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
One emerging application of parallel manipulators is to use them as CNC (Computerized Numerical Controlled) machine tools and recently several prototypes of such CNC machines have been developed, all based on hexapod machine--a type of parallel manipulators similar to a Stewart platform. The goal of this research is to develop an effective control scheme, cross-coupling control, for this type of CNC machine tools, which will reduce the contouring errors and thus further enhance their...
Show moreOne emerging application of parallel manipulators is to use them as CNC (Computerized Numerical Controlled) machine tools and recently several prototypes of such CNC machines have been developed, all based on hexapod machine--a type of parallel manipulators similar to a Stewart platform. The goal of this research is to develop an effective control scheme, cross-coupling control, for this type of CNC machine tools, which will reduce the contouring errors and thus further enhance their advantages. This dissertation describes the research work as follows. Firstly. based on the analysis of the kinematics and dynamics, a PID (Proportional-Integral-Derivative) controller was designed for each leg of the hexapod CNC machine. Secondly, real-time contour error models were developed and verified to determine not only for the calculation of the contour errors of the hexapod CNC machine but also for the general case of any machine tools. Thirdly, the contour errors of the hexapod CNC machine were investigated for a conventional PID controller. The results indicate that the accuracy of the hexapod machine is better than the conventional CNC machine tools even for mismatched axes and load exertion. Finally, a cross-coupling control scheme was proposed for the purpose to enhance the contour accuracy of this new type of hexapod CNC machine tools. A cross-coupling controller design for a 2-DOF platform was performed to provide the guidelines. Then, a cross-coupling controller for the new type of hexapod CNC machine tools was designed by feeding back the contour error to each axis. The efficiency of the proposed cross-coupling controller was verified through simulations. The result shows that the proposed cross-coupling controller is very effective in reducing the contouring errors. While cross-coupling controllers were originally proposed for conventional CNC machine tools, this research is the first attempt of expanding this concept to the new type of hexapod CNC machine tools.
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Date Issued
1998
PURL
http://purl.flvc.org/fcla/dt/12576
Subject Headings
Machine-tools--Numerical control, Manipulators (Mechanism), PID controllers
Format
Document (PDF)
genetic algorithm for non-constrained process and economic process optimization
Title
A genetic algorithm for non-constrained process and economic process optimization.
Creator
Chirdchid, Sangthen., Florida Atlantic University, Masory, Oren, Mazouz, Abdel Kader, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Improving the quality of a product and manufacturing processes at a low cost is an economic and technological challenge which quality engineers and researches must contend with. In general, the quality of products and their cost are the main concerns for manufactures. This is because improving quality is very crucial for staying competitive and improving the organization's market position. However, some difficulty of finding where the standard of good quality is still remains. Customers'...
Show moreImproving the quality of a product and manufacturing processes at a low cost is an economic and technological challenge which quality engineers and researches must contend with. In general, the quality of products and their cost are the main concerns for manufactures. This is because improving quality is very crucial for staying competitive and improving the organization's market position. However, some difficulty of finding where the standard of good quality is still remains. Customers' satisfaction is a key for setting up the quality target. One possible solution is to develop control limits, which are the limits for indicating the area of nonconforming product on the basis of minimizing the total cost or loss to the customer as well as to the manufacturer. Therefore, the goal of this dissertation is to develop an effective tool to improve a high quality of product while maintaining a minimum cost.
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Date Issued
2004
PURL
http://purl.flvc.org/fau/fd/FADT12081
Subject Headings
Genetic algorithms, Quality of products--Cost effectiveness--Econometric models, Multivariate analysis, Taguchi methods (Quality control)
Format
Document (PDF)
petri net framework for the simulation and control of automated systems
Title
A petri net framework for the simulation and control of automated systems.
Creator
Murgatroy, Richard John, Jr., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
This thesis presents a programming framework in the C language to execute a petri net simulation and real-time control for an automated system. This framework allows for the simulation of a proposed flexible automated system, and also the simultaneous development of the real-time control. The system is based on petri nets, which are used to model the system. Basic petri net theory and the construction of models using petri nets are discussed. The program is designed to allow a hierarchical...
Show moreThis thesis presents a programming framework in the C language to execute a petri net simulation and real-time control for an automated system. This framework allows for the simulation of a proposed flexible automated system, and also the simultaneous development of the real-time control. The system is based on petri nets, which are used to model the system. Basic petri net theory and the construction of models using petri nets are discussed. The program is designed to allow a hierarchical structure to the petri net model, and a modular approach to the program design is taken using some concepts from object oriented programming. The program provides a time-based diagnostic system incorporated into the framework to detect problems during the execution of the actual system. An example application is provided to demonstrate the implementation of the framework to both simulate and control an actual system.
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Date Issued
1995
PURL
http://purl.flvc.org/fcla/dt/15226
Subject Headings
Petri nets, Computer integrated manufacturing systems--Computer simulation, Flexible manufacturing systems--Computer simulation
Format
Document (PDF)
Selection of manufacturing tolerances for open-chain mechanisms
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.
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Date Issued
1992
PURL
http://purl.flvc.org/fcla/dt/14814
Subject Headings
Tolerance (Engineering), Machinery, Kinematics of
Format
Document (PDF)
Workspace evaluation and kinematic calibration of Stewart platform
Title
Workspace evaluation and kinematic calibration of Stewart platform.
Creator
Wang, Jian., Florida Atlantic University, Masory, Oren, Roth, Zvi S., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description
Parallel manipulators have their special characteristics in contrast to the traditional serial type of robots. Stewart platform is a typical six degree of freedom fully parallel robot manipulator. The goal of this research is to enhance the accuracy and the restricted workspace of the Stewart platform. The first part of the dissertation discusses the effect of three kinematic constraints: link length limitation, joint angle limitation and link interference, and kinematic parameters on the...
Show moreParallel manipulators have their special characteristics in contrast to the traditional serial type of robots. Stewart platform is a typical six degree of freedom fully parallel robot manipulator. The goal of this research is to enhance the accuracy and the restricted workspace of the Stewart platform. The first part of the dissertation discusses the effect of three kinematic constraints: link length limitation, joint angle limitation and link interference, and kinematic parameters on the workspace of the platform. An algorithm considering the above constraints for the determination of the volume and the envelop of Stewart platform workspace is developed. The workspace volume is used as a criterion to evaluate the effects of the platform dimensions and kinematic constraints on the workspace and the dexterity of the Stewart platform. The analysis and algorithm can be used as a design tool to select dimensions, actuators and joints in order to maximize the workspace. The remaining parts of the dissertation focus on the accuracy enhancement. Manufacturing tolerances, installation errors and link offsets cause deviations with respect to the nominal parameters of the platform. As a result, if nominal parameters are being used, the resulting platform pose will be inaccurate. An accurate kinematic model of Stewart platform which accommodates all manufacturing and installation errors is developed. In order to evaluate the effects of the above factors on the accuracy, algorithms for the forward and inverse kinematics solutions of the accurate model are developed. The effects of different manufacturing tolerances and installation errors on the platform accuracy are investigated based on this model. Simulation results provide insight into the expected accuracy and indicate the major factors contributing to the inaccuracies. In order to enhance the accuracy, there is a need to calibrate the platform, or to determine the actual values of the kinematic parameters (Parameter Identification) and to incorporate these into the inverse kinematic solution (Accuracy Compensation). An error-model based algorithm for the parameter identification is developed. Procedures for the formulation of the identification Jacobian and for accuracy compensation are presented. The algorithms are tested using simulated measurements in which the realistic measurement noise is included. As a result, pose error of the platform are significantly reduced.
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Date Issued
1992
PURL
http://purl.flvc.org/fcla/dt/12316
Subject Headings
Robots--Control systems, Manipulators (Mechanism), Robotics--Calibration
Format
Document (PDF)