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Title: Objects interaction using superquadrics for telemanipulation system simulation.
Creator: Agba, Emmanuel I., Wong, Tin-Lup, Huang, Ming Z., Clark, A. M., Harbor Branch Oceanographic Institute
Date Issued: 1993
PURL: http://purl.flvc.org/FCLA/DT/3342309
Subject Headings: Robotics, Telemanipulator, Simulation
Format: Document (PDF)

Title: Computer simulation of calcareous deposition.
Creator: Sadasivan, Gireesh Kumar., Florida Atlantic University, Smith, Samuel W., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Formation of calcareous deposits on marine structures under cathodic protection reduces the current required to protect the surface, as time progresses. Computer aided design methods to date rely heavily on polarization data obtained from laborious and expensive in situ experiments. The present approach lays the foundation for a new design method in which the formation of calcareous deposits is modeled from first principles, based on precipitation and diffusion of ions of the constituent...
Show moreFormation of calcareous deposits on marine structures under cathodic protection reduces the current required to protect the surface, as time progresses. Computer aided design methods to date rely heavily on polarization data obtained from laborious and expensive in situ experiments. The present approach lays the foundation for a new design method in which the formation of calcareous deposits is modeled from first principles, based on precipitation and diffusion of ions of the constituent compounds in the boundary layer. Calcareous deposition in a one dimensional boundary layer was modeled and this model was used successfully to simulate the cathodic protection of a rotating cylinder in artificial sea water. Precipitation rate constant of Mg(OH)$\sb2$ was determined and the pH on the cylinder surface was estimated to be one tenth of a pH unit higher than that required for the precipitation of magnesium hydroxide from sea water.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/14495
Subject Headings: Calcium--Computer simulation
Format: Document (PDF)

Title: Molecular dynamics simulation of single-walled carbon nanotubes.
Creator: Cornwell, Charles F., Florida Atlantic University, Wille, Luc T.
Abstract/Description: Classical trajectory molecular dynamics methods are used to investigate open ended free standing single wall carbon nanotubes ("SWT"). Total energy calculations performed using classical three-body interatomic potentials with periodic boundary conditions along the tube axis, showed that the minimum strain energy varied as 1/$R\sp2$ relative to an unstrained graphite sheet. We discuss the development of a parallel code to simulate short-ranged empirical potentials such as those of Stillinger...
Show moreClassical trajectory molecular dynamics methods are used to investigate open ended free standing single wall carbon nanotubes ("SWT"). Total energy calculations performed using classical three-body interatomic potentials with periodic boundary conditions along the tube axis, showed that the minimum strain energy varied as 1/$R\sp2$ relative to an unstrained graphite sheet. We discuss the development of a parallel code to simulate short-ranged empirical potentials such as those of Stillinger and Weber, Tersoff, and Tersoff-Brenner. We then use the Tersoff and Tersoff-Brenner potentials to examine SWT and the tube response to axial stretching and compression. Data collected are used to calculate Young's modulus for the tubes and to develop a simple formula that approximates Young's modulus over a range of tube radii. The investigation of the free standing SWT leads to a suggestion for the possible mechanism responsible for holding the tubes open during the growth process.
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Date Issued: 1996
PURL: http://purl.flvc.org/fcla/dt/15269
Subject Headings: Carbon, Nanostructured materials, Simulation methods
Format: Document (PDF)

Title: Visualization tool for molecular dynamics simulation.
Creator: Garg, Meha., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: A study of Molecular Dynamics using computational methods and modeling provides the understanding on the interaction of the atoms, properties, structure, and motion and model phenomenon. There are numerous commercial tools available for simulation, analysis and visualization. However any particular tool does not provide all the functionalities. The main objective of this work is the development of the visualization tool customized for our research needs to view the three dimensional...
Show moreA study of Molecular Dynamics using computational methods and modeling provides the understanding on the interaction of the atoms, properties, structure, and motion and model phenomenon. There are numerous commercial tools available for simulation, analysis and visualization. However any particular tool does not provide all the functionalities. The main objective of this work is the development of the visualization tool customized for our research needs to view the three dimensional orientation of the atom, process the simulation results offline, able to handle large volume of data, ability to display complete frame, atomic trails, and runtime response to the researchers' query with low processing time. This thesis forms the basis for the development of such an in-house tool for analysis and display of simulation results based on Open GL and MFC. Advantages, limitations, capabilities and future aspects are also discussed. The result is the system capable of processing large amount of simulation result data in 11 minutes and query response and display in less than 1 second.
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Date Issued: 2010
PURL: http://purl.flvc.org/FAU/1927308
Subject Headings: Molecular dynamics, Computer simulation, Condensed matter, Computer simulation, Intermolecular forces, Computer simulation, Molecules, Mathematical models
Format: Document (PDF)

Title: Estimation of cross range dimensions from a single beam forward look SONAR.
Creator: Park, Joseph C., Florida Atlantic University, Cuschieri, Joseph M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: A computer algorithm is developed to provide real-time cross range spatial quantization for a single beam forward look SONAR similar in operation to a typical sidescan SONAR. This involves the computer simulation of return time signals generated by scanning a surface profile. The time signals are normalized with respect to the scanning altitude to simulate the application of a time varying gain, and then are used as input to the surface estimation algorithm. The algorithm requires two time...
Show moreA computer algorithm is developed to provide real-time cross range spatial quantization for a single beam forward look SONAR similar in operation to a typical sidescan SONAR. This involves the computer simulation of return time signals generated by scanning a surface profile. The time signals are normalized with respect to the scanning altitude to simulate the application of a time varying gain, and then are used as input to the surface estimation algorithm. The algorithm requires two time signals acquired from adjacent scanning positions and solves a stereoscopic geometry in arriving at the surface estimate. Final estimates have an error of less than 1% in target height determination within a set range of operation.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/14501
Subject Headings: Sonar--Computer simulation, Signal processing--Computer simulation, Underwater acoustics--Computer simulation
Format: Document (PDF)

Title: Design, implementation and testing of a bio-inspired propulsion system for autonomous underwater vehicles.
Creator: Le Goff, Ivan., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Some Autonomous Underwater Vehicles have recently been designed to mimic the locomotion of underwater animals. A new way of propulsion which uses Oscillating Fin Thrusters (OFTs) has been implemented on the AUV Morpheus, with the Nektor module. In particular, first a low level adaptive controller has been developed with the purpose of studying the characteristics of the OFT. Then, a new vehicle using Morpheus' base has been built in order to implement this module and test it. This required...
Show moreSome Autonomous Underwater Vehicles have recently been designed to mimic the locomotion of underwater animals. A new way of propulsion which uses Oscillating Fin Thrusters (OFTs) has been implemented on the AUV Morpheus, with the Nektor module. In particular, first a low level adaptive controller has been developed with the purpose of studying the characteristics of the OFT. Then, a new vehicle using Morpheus' base has been built in order to implement this module and test it. This required for the Lonworks network to be interfaced with QNXnet to create a multi communication protocol vehicle. Concerning the high level control, some proportional controllers and a 6-degree of freedom adaptive controller have been implemented and tested on the new vehicle. The results from these tests have shown that the Nektor module is suitable for the Morpheus, providing high-maneuverability features unavailable when using more standard propulsion systems.
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Date Issued: 2003
PURL: http://purl.flvc.org/fcla/dt/13000
Subject Headings: Oceanographic submersibles--Computer simulation, Underwater propulsion
Format: Document (PDF)

Title: Digital implementation of Alopex: HDL simulation studies.
Creator: Freytag, Lynn R., Florida Atlantic University, Shankar, Ravi
Abstract/Description: Alopex is a stochastic algorithm used to solve optimization problems in various types of systems. This thesis describes behavioral and structural hardware-description-language models which were developed for a three-stage VLSI-implementable Alopex architecture. The architecture features an SIMD structure and no communication between processing elements (PEs). Several approximations and simplifications were tested using the models to achieve a simple PE architecture and to implement the...
Show moreAlopex is a stochastic algorithm used to solve optimization problems in various types of systems. This thesis describes behavioral and structural hardware-description-language models which were developed for a three-stage VLSI-implementable Alopex architecture. The architecture features an SIMD structure and no communication between processing elements (PEs). Several approximations and simplifications were tested using the models to achieve a simple PE architecture and to implement the algorithm using integer arithmetic. Simulations were conducted with numerical image input to check the validity of these changes, and the timing relationships between PEs and controllers were explored. The use of a hardware description language provided an easy way to investigate timing and make architectural changes. The algorithm was found to function correctly under the digital hardware constraints and simplifications. The timing results gave an indication of the execution time for each step and pointed out areas in which the architecture may need to be improved.
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Date Issued: 1990
PURL: http://purl.flvc.org/fcla/dt/14650
Subject Headings: Computer hardware description languages--Simulation methods
Format: Document (PDF)

Title: Development and simulation of vertical profiling capability for FAU autonomous underwater vehicles.
Creator: Lin, Huaying., Florida Atlantic University, Hsu, Sam, An, Edgar, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: This thesis describes the development of a simulation environment for Autonomous Underwater Vehicles (AUVs) on UNIX platforms. AUV missions can therefore be carried out without going to the sea. The Yoyo controller, a component for AUVs is also described in this thesis. The main function of Yoyo is to control the vertical profile of an AUV while it is navigating underwater performing data collection missions. The development of the controller is done in the simulation environment. Several...
Show moreThis thesis describes the development of a simulation environment for Autonomous Underwater Vehicles (AUVs) on UNIX platforms. AUV missions can therefore be carried out without going to the sea. The Yoyo controller, a component for AUVs is also described in this thesis. The main function of Yoyo is to control the vertical profile of an AUV while it is navigating underwater performing data collection missions. The development of the controller is done in the simulation environment. Several test cases have been performed, and the test results have clearly demonstrated the successful development of the controller.
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Date Issued: 1998
PURL: http://purl.flvc.org/fcla/dt/15599
Subject Headings: Oceanographic submersibles--Computer simulation, Underwater navigation
Format: Document (PDF)

Title: BUSINESS SYSTEMS SIMULATION USING GPSS/360.
Creator: Sanford, Donald G., Florida Atlantic University, Stephenson, Samuel S.
Abstract/Description: This thesis was prepared as an introductory text in business systems simulation using the General Purpose Simulation System/360 computer programming language. The material requires no background in computer programming or simulation. A knowledge of elementary probability and statistics and a course in operations research would be prerequisites. A number of examples illustrate an approach to simulation problems and the use of the computer language.
Date Issued: 1971
PURL: http://purl.flvc.org/fcla/dt/13420
Subject Headings: Computer simulation, Programming languages (Electronic computers)
Format: Document (PDF)

Title: Enhancement of the inertial navigation system for the Florida Atlantic University autonomous underwater vehicles.
Creator: Grenon, Gabriel Jean., Florida Atlantic University, An, Edgar
Abstract/Description: This thesis describes a new Inertial Navigation System (INS), designed for use on the latest generation of Autonomous Underwater Vehicle (AUV), the Morpheus AUVs, developed by the Department of Ocean Engineering. The INS makes use of a high precision Inertial Measurement Unit (IMU) along with a Doppler Velocity Log (DVL), a GPS/DGPS system and a flux gate magnetic compass to estimate the position of the vehicle during a mission. Extensive data processing methods are used in order to reduce...
Show moreThis thesis describes a new Inertial Navigation System (INS), designed for use on the latest generation of Autonomous Underwater Vehicle (AUV), the Morpheus AUVs, developed by the Department of Ocean Engineering. The INS makes use of a high precision Inertial Measurement Unit (IMU) along with a Doppler Velocity Log (DVL), a GPS/DGPS system and a flux gate magnetic compass to estimate the position of the vehicle during a mission. Extensive data processing methods are used in order to reduce the sources of error most critical to the navigation estimation. Accelerometers and gyroscopes are used to estimate the vehicle attitude in a complementary filter; a standard Kalman filter performs yaw rate bias estimation, whereas a second, extended Kalman filter, provides position estimation of the vehicle in real time, while also correcting for heading errors. Overall the INS is capable of providing the Morpheus with 1% navigation accuracy over an hour.
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Date Issued: 2000
PURL: http://purl.flvc.org/fcla/dt/12682
Subject Headings: Oceanographic submersibles--Computer simulation, Underwater navigation
Format: Document (PDF)

Title: Implementation of the Ocean Explorer AUV dock for use with the Morpheus AUV.
Creator: Lambiotte, Joseph Clayton, Jr., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This report highlights important aspects of previous work with the Ocean Explorer (OEX) autonomous underwater vehicle (AUV) docking system as a background. This includes short baseline navigation, the Tracking Controller, Mechanical aspects of the dock, and results of testing of the docking system for the OEX Details of the Morpheus AUV are then given along with the major concerns faced in trying to adapt the OEX dock to the Morpheus. Using computer simulation, the reaction of the Morpheus...
Show moreThis report highlights important aspects of previous work with the Ocean Explorer (OEX) autonomous underwater vehicle (AUV) docking system as a background. This includes short baseline navigation, the Tracking Controller, Mechanical aspects of the dock, and results of testing of the docking system for the OEX Details of the Morpheus AUV are then given along with the major concerns faced in trying to adapt the OEX dock to the Morpheus. Using computer simulation, the reaction of the Morpheus when it impacts the dock is explored and the results of at sea testing (the collision of the vehicle and the dock) is discussed. A stinger strength analysis of the docking components is included and finally, suggestions for future work including modifications of the existing dock as well as another docking scheme are presented.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12735
Subject Headings: Oceanographic submersibles--Computer simulation, Underwater navigation
Format: Document (PDF)

Title: Population dynamics in spatially explicit lattice epidemic models.
Creator: St. John, Shane C., Florida Atlantic University, Wille, Luc T.
Abstract/Description: Presented is a computational implementation simulating the propagation of an infectious disease through a host population extended over a 2-dimensional square lattice. The model incorporates the effects of spatial distribution allowing for an analysis of the persistence and dynamics of the disease. Computational issues are discussed along with the results of the simulations. The simulations show that there is a threshold or critical population density. Below the critical density the disease...
Show morePresented is a computational implementation simulating the propagation of an infectious disease through a host population extended over a 2-dimensional square lattice. The model incorporates the effects of spatial distribution allowing for an analysis of the persistence and dynamics of the disease. Computational issues are discussed along with the results of the simulations. The simulations show that there is a threshold or critical population density. Below the critical density the disease dies out and above it, the disease persists endemically. Population mixing affects the disease's ability to persist and, hence, the critical density. Higher degrees of mixing improve a disease's ability to persist. The model is then studied analytically in the mean-field point approximation limit. Higher mean-field approximations, which better account for the spatial inhomogeneities of the spatially discrete computational model, are also considered.
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Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/15419
Subject Headings: Epidemics--Computer simulation, Population density, Population
Format: Document (PDF)

Title: Numerical Simulation of Marine Hydrokinetic Turbines in Realistic Operating Conditions.
Creator: Dunlap, Broc, VanZwieten, James, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description: Marine Hydrokinetic (MHK) energy is an alternative to address the demand for cleaner energy sources. This study advanced numerical modeling tools and uses these to evaluate the performance of both a Tidal Turbine (TT) and an Ocean Current Turbine (OCT) operating in a variety of conditions. Inflow models are derived with current speeds ranging from 1.5 to 3 m/s and Turbulence Intensities (TI) of 5-15% and integrated into a TT simulation. An OCT simulation representing a commercial scale 20 m...
Show moreMarine Hydrokinetic (MHK) energy is an alternative to address the demand for cleaner energy sources. This study advanced numerical modeling tools and uses these to evaluate the performance of both a Tidal Turbine (TT) and an Ocean Current Turbine (OCT) operating in a variety of conditions. Inflow models are derived with current speeds ranging from 1.5 to 3 m/s and Turbulence Intensities (TI) of 5-15% and integrated into a TT simulation. An OCT simulation representing a commercial scale 20 m diameter turbine moored to the seafloor via underwater cable is enhanced with the capability to ingest Acoustic Doppler Current Profiler (ADCP) data and simulate fault conditions. ADCP measurements collected off the coast of Ft. Lauderdale during Hurricanes Irma and Maria were post-processed and used to characterize the OCT performance. In addition, a set of common faults were integrated into the OCT model to assess the system response in fault-induced scenarios.
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Date Issued: 2022
PURL: http://purl.flvc.org/fau/fd/FA00013962
Subject Headings: Turbines, Ocean wave power, Simulations, Mathematical models
Format: Document (PDF)

Title: A MONTE CARLO STUDY OF THE NEUTRON AMBIENT DOSE EQUIVALENT FROM A PROTON PENCIL BEAM MEDICAL THERAPY UNIT.
Creator: Llanes, Alejandro Rene Lopez, Muhammad, Wazir, Florida Atlantic University, Department of Physics, Charles E. Schmidt College of Science
Abstract/Description: Proton Therapy, an effective cancer treatment, poses unintended consequences for patients and personnel due to secondary neutron production. This study investigates neutron attenuation in shielding materials like concrete using Monte Carlo (MC) simulations to optimize shielding requirements. Experimental limitations, such as detector sensitivity, energy range response, and spatial resolution, lead to inaccurate evaluations. MC simulations address that by modeling radiation transport and...
Show moreProton Therapy, an effective cancer treatment, poses unintended consequences for patients and personnel due to secondary neutron production. This study investigates neutron attenuation in shielding materials like concrete using Monte Carlo (MC) simulations to optimize shielding requirements. Experimental limitations, such as detector sensitivity, energy range response, and spatial resolution, lead to inaccurate evaluations. MC simulations address that by modeling radiation transport and neutron interactions with shielding materials. The TOPAS-MC code simulated secondary neutrons generated by a 226.5 MeV energy proton beam on a 30 cm diameter tissue-equivalent target. The target was placed in a 200 cm spherical concrete shell with a 100 cm inner radius and 2.3 g/cm3 density. Energy deposition and particle fluence were scored in 20 radial points across 18 angular positions, and the mean value per particle was estimated. Neutron fluence to ambient dose equivalent conversion coefficients from ICRU Report No. 95 were used to calculate the total dose equivalent values, which were scaled based on distance and concrete shield thickness.
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Date Issued: 2023
PURL: http://purl.flvc.org/fau/fd/FA00014213
Subject Headings: Proton Therapy, Monte Carlo simulation, Neutrons
Format: Document (PDF)

Title: Visual discrimination by C57BL/6J mice in water maze tasks: does size really matter?.
Creator: Buerger, Eric D., Charles E. Schmidt College of Science, Department of Psychology
Abstract/Description: When interpreting how an animal "learns" discrimination tasks, strain capabilities must be considered, and it should be shown that they comprehend the task in a manner consistent with the given interpretation. A novel visual-discrimination (VD) task for relative-size-relations was used to examine visual cue use in C57BL/6J mice, which are shown to have biologically good vision and neurologically intact memory for VD tasks. Results suggest C57BL/6J strain may not be fully capable of relative...
Show moreWhen interpreting how an animal "learns" discrimination tasks, strain capabilities must be considered, and it should be shown that they comprehend the task in a manner consistent with the given interpretation. A novel visual-discrimination (VD) task for relative-size-relations was used to examine visual cue use in C57BL/6J mice, which are shown to have biologically good vision and neurologically intact memory for VD tasks. Results suggest C57BL/6J strain may not be fully capable of relative cue-size associations or even object recognition-based on a water maze VD task. This is in contrast to previous studies suggesting this mice strain is quite strong in visual skills and on VD tasks. Additionally, cue size and/or cue-pairings do appear to influence specific directional preferences or stereotyped behaviors as trainings continued, and these strategies shifted during novel probes. Future studies should assess how mice discriminate between objects and test rat's capabilities on this task.
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Date Issued: 2008
PURL: http://purl.flvc.org/FAU/165670
Subject Headings: Visual discrimination, Form perception, Animal behavior, Simulation methods, Animals, Adaptation, Simulation methods
Format: Document (PDF)

Title: Dynamic simulation and control of an autonomous surface vehicle.
Creator: VanZwieten, Tannen S., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Autonomous Surface Vehicle (ASV) research and development is inspired by the navigating and communicatiog challenges of Autonomous Underwater Vehicles (AUVs). The development objective is to provide real time positioning of and communication with AUVs through the air-sea interface. Despite extensive research on AUVs, the ASV has had limited research. The NAVY's desire to make AUV's defense capabilities realizable adds to the project's appeal. Guidance and control play an integral part in the...
Show moreAutonomous Surface Vehicle (ASV) research and development is inspired by the navigating and communicatiog challenges of Autonomous Underwater Vehicles (AUVs). The development objective is to provide real time positioning of and communication with AUVs through the air-sea interface. Despite extensive research on AUVs, the ASV has had limited research. The NAVY's desire to make AUV's defense capabilities realizable adds to the project's appeal. Guidance and control play an integral part in the ASV's success, motivating this thesis work. The overall vehicle dynamics were modeled and numerically simulated for 3 DOF lateral motion. These are development tools for the testing and tuning of PID and adaptive control algorithms. The results show the adaptive controller to be advantageous in terms of tuning, robustness and tracking performances. It uses a single layer neural network that bypasses the need for information about the system's dynamic structure and characteristics and provides portability.
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Date Issued: 2003
PURL: http://purl.flvc.org/fcla/dt/13081
Subject Headings: Hydrodynamics, Adaptive control systems--Computer simulation, PID controllers--Computer simulation, Neural networks (Computer science)
Format: Document (PDF)

Title: A VLSI implementable handwritten digit recognition system using artificial neural networks.
Creator: Agba, Lawrence C., Florida Atlantic University, Shankar, Ravi, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: A VLSI implementable feature extraction scheme, and two VLSI implementable algorithms for feature classification that should lead to a practical handwritten digit recognition system are proposed. The feature extraction algorithm exploits the concept of holon dynamics. Holons can be regarded as a group of cooperative processors with self-organizing property. Two types of artificial neural network-based classifiers have been evolved to classify these features. The United States Post Office...
Show moreA VLSI implementable feature extraction scheme, and two VLSI implementable algorithms for feature classification that should lead to a practical handwritten digit recognition system are proposed. The feature extraction algorithm exploits the concept of holon dynamics. Holons can be regarded as a group of cooperative processors with self-organizing property. Two types of artificial neural network-based classifiers have been evolved to classify these features. The United States Post Office handwritten digit database was used to train and test these networks. The first type of classifier system used limited interconnect multi-layer perceptron (LIMP) modules in a hierarchical configuration. Each classifier in this system was independently trained and designated to recognize a particular digit. A maximum of sixty-one digits were used to train and 464 digits which included the training set were used to test the classifiers. A cumulative performance of 93.75% (correctly recognized digits) was recorded. The second classifier system consists of a cluster of small multi-layer perceptron (CLUMP) networks. Each cell in this system was independently trained to trace the boundary between two or more digits in the recognition plane. A combination of these cells distinguish a digit from the rest. This system was trained with 1796 digits and tested on 1918 different set of digits. On the training set a performance of 95.55% was recorded while 79.35% resulted from the test data. These results, which are expected to further improve, are superior to those obtained by other researchers on the same database. This technique of digit recognition is general enough for application in the development of a universal alphanumeric recognition system. A hybrid VLSI system consisting of both analog and digital circuitry, and utilizing both Bi-CMOS and switched capacitor technologies has been designed. The design is intended for implementation with the current MOSIS 2 $\mu$m, double poly, double metal, and p-well CMOS technology. The integrated circuit is such that both classifier systems can be realized using the same chip.
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Date Issued: 1990
PURL: http://purl.flvc.org/fcla/dt/12260
Subject Headings: Optical character recognition devices--Computer simulation, Pattern recognition systems--Computer simulation
Format: Document (PDF)

Title: An adaptive computed torque controller for the I.B.M. Electric Drive Robot.
Creator: Miller, Lee Wayne., Florida Atlantic University, Pajunen, Grazyna, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: The I.B.M. Electric Drive Robot (E.D.R.) is a six-link manipulator originally controlled by a classical analog P.I.D. controller. Its performance is not satisfactory because of its poor tracking capabilities and a considerable vibration during arm movement. This is the central motivation for designing an adaptive computed torque controller for this system. In order to accomplish this the physical model of the robot is first reparameterized such that it is linear with respect to a set of...
Show moreThe I.B.M. Electric Drive Robot (E.D.R.) is a six-link manipulator originally controlled by a classical analog P.I.D. controller. Its performance is not satisfactory because of its poor tracking capabilities and a considerable vibration during arm movement. This is the central motivation for designing an adaptive computed torque controller for this system. In order to accomplish this the physical model of the robot is first reparameterized such that it is linear with respect to a set of uncertain parameters. Once this is accomplished the adaptive controller is then formulated. Next methods of computer simulation are developed and employed. These simulation results show the superior performance of the proposed scheme over both a classical computed torque controller and the current P.I.D. controller.
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Date Issued: 1990
PURL: http://purl.flvc.org/fcla/dt/14612
Subject Headings: Adaptive control systems--Computer simulation, PID controllers--Computer simulation, Robotics, Manipulators (Mechanism)
Format: Document (PDF)

Title: A graphical Windows(c)-based cable and underwater system simulation software.
Creator: de Baudreuil, Jean., Florida Atlantic University, Driscoll, Frederick R.
Abstract/Description: Underwater systems behavior prediction has become an important success factor in the design and implementation of marine systems. Most marine systems involve cables for mooring, deployment, recovery, or towing; however, estimating the response of these systems is difficult because of their non-linear behavior. Thus, numerical models are used to simulate submerged cabled systems. At FAU, many mission specific cable simulations have been developed, but no single, all encompassing software...
Show moreUnderwater systems behavior prediction has become an important success factor in the design and implementation of marine systems. Most marine systems involve cables for mooring, deployment, recovery, or towing; however, estimating the response of these systems is difficult because of their non-linear behavior. Thus, numerical models are used to simulate submerged cabled systems. At FAU, many mission specific cable simulations have been developed, but no single, all encompassing software package exists. This thesis develops a Windows(c) based software package to quickly and easily create FEA models of underwater cabled systems and simulate their response. The model is based on a discrete finite element analysis using linear elements. The software provides fully integrated and interactive Graphical User Interfaces with a 3-dimensional graphical display of the model, and integrates adapted data analysis and visualization tools. The software provides an easy and efficient way to simulate an underwater system involving cables.
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Date Issued: 2005
PURL: http://purl.flvc.org/fcla/dt/13232
Subject Headings: Oceanographic submersibles--Computer simulation, Computer software--Development, Simulation methods, Cables, Submarine
Format: Document (PDF)

Title: Feature extraction implementation for handwritten numeral recognition.
Creator: Banuru, Prashanth K., Florida Atlantic University, Shankar, Ravi
Abstract/Description: Feature extraction for handwritten character recognition has always been a challenging problem for investigators in the field. The problem gets worse due to large variations present for each type of input character. Our algorithm computes directional features for alphanumeric input mapped on to a hexagonal lattice. The algorithm implements size and scale invariance that is a requirement for achieving a reasonably good recognition rate. Functional performance has been verified for an hexagonal...
Show moreFeature extraction for handwritten character recognition has always been a challenging problem for investigators in the field. The problem gets worse due to large variations present for each type of input character. Our algorithm computes directional features for alphanumeric input mapped on to a hexagonal lattice. The algorithm implements size and scale invariance that is a requirement for achieving a reasonably good recognition rate. Functional performance has been verified for an hexagonal lattice mapped input on the data obtained from the US postal service handwritten character database. In this thesis, we implemented the algorithm in a Xilinx FPGA (XC4xxx series).
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Date Issued: 1994
PURL: http://purl.flvc.org/fcla/dt/15103
Subject Headings: Algorithms, Pattern recognition systems--Computer simulation, Optical character recognition devices--Computer simulation
Format: Document (PDF)

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