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Thesis (M.S. in Astronautical Engineering)--Naval Postgraduate School, September 1990. / Thesis Advisor(s): Agrawal, Brij N. Second Reader: Titus, Harold. "September 1990." Description based on title screen as viewed on December 17, 2009. DTIC Identifier(s): Attitude Control Systems, Flexible Structures, Spacecraft, Structural Response, Resonant Frequency, Experimental Design, Model Tests, Active Control, Gifts Computer Program, Dynamic Response, Computerized Simulation, Control Theory, Modal Analysis, Laboratory Tests, Theses. Author(s) subject terms: Attitude Control, Flexible Structures. Includes bibliographical references (p. 52). Also available in print.

Design control is a relevant concept for any age and any context of urban development by use of many varying tools from highly prescriptive ones to flexible guidance in order to control design of urban space and places. Production of clear definitions and types for the tools is critical for effective use of the design tools to guide and code the urban design. Distinctive parameters for the definitions and types of the design control tools are scale of intervention, level of prescription and contents and component of the tool. In this thesis, design control tools including design guides, briefs, frameworks and design codes are analysed in terms of this parameters, in order to reach the aim of the thesis which is building taxonomy of design control tools and taxonomy of their contents and components by analysing contemporary design control tools.

In Turkey while the production of urban space is based on individual plots in the nner areas of the city, urban peripheral areas face development based on the cale of urban block or neighbourhood. Although such a development pattern carries potentials to produce qualified urban forms, it is mainly characterized with its fragmented structure and lack of public spaces. Thus, aim of the thesis is to explain the deficiencies and potentials of design control practice in Turkey, specifically in peripheral areas. Evaluating the contemporary approaches in design control, the thesis provides a theoretical framework that elaborates the procedural and substantive dimensions of design control. It is proposed that the interrelation between the dimensions of design control cannot be conceived without considering the ways of control on private property. Therefore, the peculiar characteristics of Turkish design control -which is mainly derived from property relations- is evaluated within the framework provided in the theoretical part through a procedural and morphological analysis of &Ccedil / ayyolu area. It is argued that design control in Turkey, focusing on quantitative dimensions of urban form, disregards qualitative aspects that necessitate the consideration of elements of urban form and their morphological characteristics. Finally, it is claimed that urban design problem in Turkey cannot be reduced simply to the domination of private interests in planning process but it is actually a matter of planning understanding which suffers from its poor insight on the idea of design. In this respect, a reconstruction of planning mechanism around the focus of &ldquo / design control&rdquo / is a necessity for an effective public control on private property.

This diploma thesis deals with designing an algorithm for controlling multihead weigher. Also, this diploma thesis contains simulation model to test how the multihead weigher behaves in different situation.

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In this thesis, solutions to two of the problems encountered in the design and control of human-friendly robots are investigated. The first problem is severe human injuries can occur when an accidental human-manipulator impact happens. A theoretical and experimental study on using foam coverings to reduce the severity of a human-manipulator impact and enhance human safety is presented. An improved human-manipulator impact model that incorporates the manipulator dynamics, foam covering dynamics and the coupling between the human head and torso is introduced. A method for approximating the configuration-dependent dynamics of robotics manipulators with the dynamics of a single DOF manipulator is proposed. With this model, the design parameters that significantly influence the human head acceleration are investigated. A model-based foam covering design procedure to properly select parameters of foam coverings in accordance with safety criteria and the foam thickness constraint is then proposed. The impact model and the foam covering design procedure are validated experimentally with two manipulators. The maximum error between the predicted and experimental head acceleration was less than 9%. The maximum error between the predicted and experimental foam compressed depth was less than 12%. The second problem is mobile robot navigation in the presence of humans and other motion-unpredictable obstacles. A novel navigation algorithm, based on the virtual force field (VFF) method, is proposed as a solution. It features improved functions for the repulsive and detour virtual forces, and a new stabilizing virtual force. Methods to calculate sizes of the active and critical regions for different obstacles are developed. Stability of the new VFF is proven using a novel piecewise Lyapunov function and Lyapunov's second method. Based on simulations for different obstacle configurations, the new VFF-based algorithm successfully produces collision-free paths while five well known navigation algorithms incurred collisions in one of the configurations. With the new VFF-based navigation algorithm, simulations and experiments are successfully performed with a holonomic robot and a nonholonomic robot for several configurations, including multiple moving obstacles. / Thesis / Doctor of Philosophy (PhD)

Over the past 20 years research into miniature actuators has been increasing. In addition to having a compact geometry, desirable characteristics for miniature actuators include having a large power-to-weight ratio, fast response, fine resolution of movement and high power efficiency. In the first part of this thesis the design of a miniature rotary robot joint is presented. Two single acting miniature cylinders each with a bore diameter of 4 mm drive the joint using water as the hydraulic fluid. The cylinders are mated to a rack and pinion mechanism that converts the opposing linear motion of the cylinders shafts into rotation. Also within the design, a novel position sensor using magnetic field sensing technology is presented. Overall, the joint measures 11 mm wide x 8.8 mm high x 150 mm long. In the second part of this thesis a hydraulic servo positioning system is presented along with a novel valve modeling technique and two position control strategies. Four low-cost, 3-way on/off solenoid valves were used to control the flow of the water in and out of the cylinders. The two nonlinear position controllers employed were a position-velocity-acceleration plus model-based feedforward controller (PVA+FF) and a novel PVA + FF plus sliding mode controller. For experiments involving horizontal rotation of the joint while carrying no load the PVA +FF controller achieved a steady-state error of ± 0.77° or ± 0.06 mm in terms of rack position. The steady-state error produced by the PVA + FF plus sliding mode controller was ± 0.85° or ± 0.07 mm. The maximum tracking error produced by both controllers was 5° or 0.41 mm and occurred during the initial cycloidal rising portion of a 120° displacement. The root mean square error (RMSE) of the PVA + FF and PVA + FF plus sliding mode controllers were 42% and 54% less than that produced by a linear PVA controller. Both controllers were found to be robust to changes in payload. This was experimentally verified by adding masses of 6.5 g and 13.5 g to the end of the output link of the joint. By conducting similar experiments in the vertical direction it was found that the PVA + FF plus sliding mode controller was more robust, achieving on average a 30% reduction in RMSE compared to the FF + PVA controller. / Thesis / Master of Applied Science (MASc)

Since 1960s, the scope of urban design broadened in a way that to control the formation process of urban space as a whole. In this respect urban coding became a distinct branch in urban planning as an integrating mechanism of planning and design processes. Thus, design control has become a crucial part of the development control systems especially in the western countries. Although the development legislation in Turkey as an urban coding system has various weaknesses about urban design and design control, it provides important tools to control urban form from macro scale to micro scale. Aim of this study is to analyze the capabilities and deficiencies of the development legislation in Turkey as a design control system. The mostly stated complaint about the planned areas in the cities of Turkey is the loss of diversity and peculiar character of settlements as a result of the homogenization of their spatial pattern, namely apartmentalization. This problem is basically related with the exclusion of urban design from the planning process. The planning approach in Turkey merely oriented to readjustment of property appropriate to small-scale development, ignoring the concerns in regard to urban design. Therefore, beyond a technical fault resulting from the legislation, this is an outcome iv of the way legal tools are used that does not realize the value of potentia l possibilities in the legislation. However, if the legal tools are used efficiently in an approach that bring the considerations of urban design into fore, it might be possible to come out with more satisfactory environments in terms of diversity and richness of urban space. This is the basic hypothesis examined in this study. In this context, firstly the relation between urban coding and design is investigated in its historical development and a hierarchical model for design control is defined. Then the development legislation in Turkey is evaluated in the frame of this model. Finally, territorial hierarchy of space is taken up as a design criterion and the capacity of legal tools in control of the transitional zones, which are critical elements of territorial hierarchy, is examined.