This research is to carry out an experimental study to examine and verify the effectiveness of the control algorithms and strategies developed at the Advanced Engineering Design Laboratory (AEDL). For this purpose, two objectives are set to be achieved in this research. The first objective is to develop a generic experiment environment (test bed) such that different control approaches and algorithms can be implemented on it. The second objective is to conduct an experimental study on the examined control algorithms, as applied to the above test bed. <p>To achieve the first objective, two main test beds, namely, the real-time controllable (RTC) mechanism and the hybrid machine, have been developed based on a two degree of freedom (DOF) closed-loop five-bar linkage. The 2-DOF closed-loop mechanism is employed in this study as it is the simplest of multi-DOF closed-loop mechanisms, and control approaches and conclusions based on a 2-DOF mechanism are generic and can be applied to a closed-loop mechanism with a higher number of degrees of freedom. The RTC mechanism test bed is driven by two servomotors and the hybrid machine is driven by one servomotor and a traditional CV motor. To achieve the second objective, an experimental study on different control algorithms has been conducted. The Proportional Derivative (PD) based control laws, i.e., traditional iii PD control, Nonlinear-PD (NPD) control, Evolutionary PD (EPD) control, non-linear PD learning control (NPD-LC) and Adaptive Evolutionary Switching-PD (AES-PD) are applied to the RTC mechanism; and as applied to the Hybrid Actuation System (HAS), the traditional PD control and the SMC control techniques are examined and compared. <p> In the case of the RTC mechanism, the experiments on the five PD-based control algorithms, i.e., PD control, NPD control, EPD, NPD-LC, and AES-PD, show that the NPD controller has better performance than the PD controller in terms of the reduction in position tracking errors. It is also illustrated by the experiments that iteration learning control (ILC) techniques can be used to improve the trajectory tracking performance. <p>However, AES-PD showed to have a faster convergence rate than the other ILC control laws. Experimental results also show that feedback ILC is more effective than the feedforward ILC and has a faster convergence rate. In addition, the results of the comparative study of the traditional PD and the Computed Torque Control (CTC) technique at both low and high speeds show that at lower speeds, both of these controllers provide similar results. However, with an increase in speed, the position tracking errors using the CTC control approach become larger than that of the traditional PD control. In the case of the hybrid machine, PD control and SMC control are applied to the mechanism. The results show that for the control of the hybrid machine and the range of speed used in this experimental study, PD control can result in satisfactory performance. However, SMC proved to be more effective than PD control.

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With advances in material technology, allowing, for instance, engines to withstand higher combustion pressure and consequently improving performance, comes challenges to productivity. These materials are, in fact, more difficult to machine with regards to tool wear and especially machine tool stability. Machining vibrations have historically been one of the major limitations to productivity and product quality and the cost of machining vibration for cylinder head manufacturing has been estimated at 0.35 euro per part. The literature review shows that most of the research on cutting stability has been concentrating on the use of the stability limits diagram (SLD), addressing the limitations of this approach. On the other hand, research dedicated to development of machine tool components designed for chatter avoidance has been concentrating solely on one component at the time. This thesis proposes therefore to extend the stability limits of the machining system by enhancing the structure’s damping capability via a unified concept based on the distribution of damping within the machining system exploiting the joints composing the machine tool structure. The design solution proposed is based on the enhancement of damping of joint through the exploitation of viscoelastic polymers’ damping properties consciously designed as High Damping Interfaces (HDI). The tool-turret joint and the turret-lathe joint have been analysed. The computational models for dimensioning the HDI’s within these joints are presented in the thesis and validated by the experiments. The models offer the possibility of consciously design damping in the machining system structure and balance it with regards to the needed stiffness. These models and the experimental results demonstrate that the approach of enhancing joint damping is viable and effective. The unified concept of the full chain of redesigned components enables the generation of the lowest surface roughness over the whole range of tested cutting parameters. The improved machining system is not affected by instability at any of the tested cutting parameters and offers an outstanding surface quality. The major scientific contribution of this thesis is therefore represented by the proposed unified concept for designing damping in a machining system alongside the models for computation and optimisation of the HDIs. From the industrial application point of view, the presented approach allows the end user to select the most suitable parameters in terms of productivity as the enhanced machine tool system becomes less sensitive to stability issues provoked by difficult-to-machine materials or fluctuations of the work material properties that may occur in ordinary production processes. / <p>QC 20120413</p> / DampComat / Production 4 micro / FFI Robust Machining

This research is to carry out an experimental study to examine and verify the effectiveness of the control algorithms and strategies developed at the Advanced Engineering Design Laboratory (AEDL). For this purpose, two objectives are set to be achieved in this research. The first objective is to develop a generic experiment environment (test bed) such that different control approaches and algorithms can be implemented on it. The second objective is to conduct an experimental study on the examined control algorithms, as applied to the above test bed. <p>To achieve the first objective, two main test beds, namely, the real-time controllable (RTC) mechanism and the hybrid machine, have been developed based on a two degree of freedom (DOF) closed-loop five-bar linkage. The 2-DOF closed-loop mechanism is employed in this study as it is the simplest of multi-DOF closed-loop mechanisms, and control approaches and conclusions based on a 2-DOF mechanism are generic and can be applied to a closed-loop mechanism with a higher number of degrees of freedom. The RTC mechanism test bed is driven by two servomotors and the hybrid machine is driven by one servomotor and a traditional CV motor. To achieve the second objective, an experimental study on different control algorithms has been conducted. The Proportional Derivative (PD) based control laws, i.e., traditional iii PD control, Nonlinear-PD (NPD) control, Evolutionary PD (EPD) control, non-linear PD learning control (NPD-LC) and Adaptive Evolutionary Switching-PD (AES-PD) are applied to the RTC mechanism; and as applied to the Hybrid Actuation System (HAS), the traditional PD control and the SMC control techniques are examined and compared. <p> In the case of the RTC mechanism, the experiments on the five PD-based control algorithms, i.e., PD control, NPD control, EPD, NPD-LC, and AES-PD, show that the NPD controller has better performance than the PD controller in terms of the reduction in position tracking errors. It is also illustrated by the experiments that iteration learning control (ILC) techniques can be used to improve the trajectory tracking performance. <p>However, AES-PD showed to have a faster convergence rate than the other ILC control laws. Experimental results also show that feedback ILC is more effective than the feedforward ILC and has a faster convergence rate. In addition, the results of the comparative study of the traditional PD and the Computed Torque Control (CTC) technique at both low and high speeds show that at lower speeds, both of these controllers provide similar results. However, with an increase in speed, the position tracking errors using the CTC control approach become larger than that of the traditional PD control. In the case of the hybrid machine, PD control and SMC control are applied to the mechanism. The results show that for the control of the hybrid machine and the range of speed used in this experimental study, PD control can result in satisfactory performance. However, SMC proved to be more effective than PD control.

Problem: Since there is not much inside information available, the problem that will be handled by this thesis is the coordination of warehousing activities within the logistics centers put to use by the Olympic Summer Games from 2000 to 2008. A special attention is given to certain requirements such as layout, capacity management, ownership and distribution applications. Purpose: The purpose of this thesis is based on warehouse requirementsand their specific adjustment to the Olympic Summer Games, further emphasizing on distribution applications influencing the capacityand ownership. Theory: The theoretical section touches upon event logistics, the Olympic Games and more importantly, logistics centers as a generic termfor distribution facilities and warehouses. Further, types of warehouses, capacity management, ownership and distribution applications are examined in order to be able to compare the various Games. Method: The method for this research is based on a case study conducted by semi-structured interviews with several people involved in the logistics organization of the Games. All interviews are conducted over the telephone and analyzed accordingly. However, secondary data was of high importance due to the limited number of interview respondents. Conclusion: All analyzed features of a warehouse facility had to be more efficiently and effectively performed in order to serve the great approach for the Olympic Summer Games. The implementation of distribution applications was not sophisticated enough to benefit capacity savings. The leased ownership situation and outsourcing to third party logistics providers were advantageous, but did not further influence the planning and utilization phase of the Olympic Games.

This work is initiated from an observation of the rolling-sliding kinematic behavior observed in the motion of the knee joint. We use the slip ratio as a parameter to analyze the rolling-sliding properties of a mechanism, and also propose a method to design new mechanisms with specific slip ratio. In this research, we first verify the many definitions of the slip ratio, then modify a best definition to suit various rolling-sliding motions. Most importantly, we propose two types of rolling-sliding mechanism design. By changing the parameters of the mechanism, we can adjust its slip ratio curve to be close to a desired curve. In addition, when the idea of adjustable link length is used in the design of the mechanism, exact slip ratio curve as specified can be generated by the use of some cams.

Based on the traditional six-bar toggle mechanisms, this study is focused on the design of two types of cam-link mechanisms. Six-bar toggle mechanisms are simple, and they have an extreme mechanical advantage in toggle position so that they are widely used in plastic forming machines. Cam-crank-slider and cam-double-slider linkage are the two types mechanisms that we concerned. And we find the difference between these mechanisms for kinematic and dynamic performance. The benefit of cam-link mechanisms compares to linkage mechanisms is more precision points. We can synthesize the curve profile with the demand for forming acceleration or stroke. Because we need interpret the kinematic characteristic of toggle mechanisms by using several boundaries condition of different curves. This study selects two kinds from foregoing curve for the model.

Flap, aileron, rudder, elevator, speed brake, stick, landing gear and similar movable systems used in aerospace industry have to operate according to the defined requirements and mechanisms used in those systems have to be synthesized in order to fulfill those requirements. Generally, without the use of synthesis tools, synthesis of mechanisms are done in CAD environment by trial-error and geometrical methods due to the complexity of analytical procedures. However, this approach is time consuming since it has to be repeated until the synthesized mechanism has suitable mechanism properties like transmission angle and connection points. Due to above reasons, a software developed for synthesis of mechanisms within the CAD environment can utilize all the graphical interfaces and provides convenience in mechanism design. In this work, it is aimed to develop a four-bar mechanism synthesis tool which is compatible with CATIA V5 by considering the requirements of aerospace industry. This tool performs function, path and motion synthesis and shows suitable mechanisms in CATIA according to input obtained from CATIA and mechanism properties.

The Interstate Highway System plays a vital role in our economic development by providing a continuous corridor for transporting goods and services. Currently, there is a need for repair and expansion of the existing highways, which include all bridges along its path. Because of the high demand for the highway system, repair and expansion must occur rapidly and efficiently. In recent years, precast bridge deck systems have become an efficient way to reduce construction time during repair. This thesis presents the experimental research of the behavior of the U-Bar joint detail used in precast bridge deck systems. This detail consists of staggered reinforcement extending beyond the precast deck portion into the joint. Six specimens utilizing the U-Bar detail were constructed and tested. Three specimens were tested in flexure to simulate the forces applied in a longitudinal deck joint, while three specimens were tested in pure tension to simulate the forces experienced in a transverse deck joint located over an interior pier. A tight 180° bend at 3db was desired in order to minimize the thickness of the deck. To achieve this tight bend, deformed wire reinforcement was chosen for the U-Bar detail due to the favorable material properties of deformed wire reinforcement. The purpose of the testing was to determine if the joint details could generate a precast deck system that could emulate the monolithic cast-in-place deck systems already in use. For monolithic behavior in a precast deck system, the joints must be able transfer shear, tension and moments. In this research, the joint overlap length was the most dominant variable, and should not be less than 152.4 mm (6”). The precast bridge deck joint should consist of high strength concrete with f’c of at least 68.9 MPa (10 ksi). The longitudinal reinforcement spacing should be no greater than 152.4 mm (6”).

Diese Arbeit liefert einen Beitrag zur Erforschung der Negation von <i>bar</i>-Adjektiven. <i>Bar</i>-Adjektive k&ouml;nnen auf zwei verschiedene Weisen negiert werden: durch Pr&auml;figierung mit <i>un</i> wie in <i>undenkbar</i> und durch vorangestelltes <i>nicht</i> wie in <i>nicht essbar</i>. Die Negation mit <i>nicht</i> ist immer m&ouml;glich. Die Negation mit <i>un</i> unterliegt hingegen bestimmten Restriktionen. Diese Restriktionen zu erforschen ist Gegenstand dieser Arbeit. Es wird daf&uuml;r ein integrierter Ansatz aus Korpusanalyse und Data Mining benutzt.