Though still in relative infancy, the field of flapping flight has potential to have a far-reaching impact on human life. Nature presents a myriad of examples of successful uses of this locomotion. Human efforts in flapping flight have seen substantial improvement in recent times. Wing kinematics are a key aspect of this study. This study summarizes previous wing trajectory generators and presents a new trajectory generation method built upon previous methods. This includes a novel means of commanding unequal half-stroke durations subject to robotic trajectory continuity requirements. Additionally, previous optimization methods are improved upon. Experimental optimization is performed using the new trajectory generation method and a more traditional means. Methods for quantifying and compensating for sensor time-dependence are also discussed. Results show that the Polar Fourier Series trajectory generator advanced rapidly through the optimization process, especially during the initial phase of experimentation. The Modified Berman and Wang trajectory generator moved through the design space more slowly due to the increased number of kinematic parameters. When optimizing lift only, the trajectory generators produced similar results and kinematic forms. The findings suggest that the objective statement should be modified to reward efficiency while maintaining a certain amount of lift. It is expected that the difference between the capabilities of the two trajectory generators will become more apparent under such conditions.

Cellulose nanocrystals (CNCs) are frequently prepared by sulfuric acid hydrolysis of a purified cellulose starting material. CNC yields, however, are generally low, often below 20%. This study employs response surface methodology to optimize the hydrolysis conditions for maximum CNC yield. Two experimental designs were tested and compared: the central composite design (CCD) and the Box–Behnken design (BBD). The three factors for the experimental design were acid concentration, hydrolysis temperature, and hydrolysis time. The responses quantified were CNC yield, sulfate group density, ζ-potential, z-average diameter, and Peak 1 value. The CCD proved suboptimal for this purpose because of the extreme reaction conditions at some of its corners, specifically (1,1,1) and (–1,–1, –1). Both models predicted maximum CNC yields in excess of 65% at similar sulfuric acid concentrations (~59 wt %) and hydrolysis temperatures (~65 °C). With the BBD, the hydrolysis temperature for maximum yield lay slightly outside the design space. All three factors were statistically significant for CNC yield with the CCD, whereas with the BBD, the hydrolysis time in the range 60–150 min was statistically insignificant. With both designs, the sulfate group density was a linear function of the acid concentration and hydrolysis temperature and maximal at the highest acid concentration and hydrolysis temperature of the design space. Both designs showed the hydrolysis time to be statistically insignificant for the ζ-potential of CNCs and yielded potentially data-overfitting regression models. With the BBD, the acid concentration significantly affected both the z-average diameter and Peak 1 value of CNCs. However, whereas the z-average diameter was more strongly affected by the hydrolysis temperature than the hydrolysis time, the Peak 1 value was more strongly affected by the hydrolysis time. The CCD did not yield a valid regression model for the Peak 1 data and a potentially data-overfitting model for the z-average diameter data. A future optimization study should use the BBD but slightly higher hydrolysis temperatures and shorter hydrolysis times than used with the BBD in this study (45–65 °C and 60–150 min, respectively). / Master of Science

The methodology of the design of experimnet has become an integral part of the optimisation of manufacturing processes in recent decades. Problems regarding designs of experiments are still up to date, especially because of a variety of approaches to collecting and evaluating data. Scientists in different research and development areas often do not take into account possible shortcommings or even essential assumptions of selected design and/or its evaluation methods. This disertation thesis summarizes theoretical bases of selected designs of experiments. Describes several applications of central composite design on responses regarding wire electrical discharge machining process. And compares different designs of experiment for response surfaces of five parameters with regards to algoritmic selection of statistically signifficant parameters.