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Thesis (M.S.M.E.)--University of Massachusetts Amherst, 2009. / Open access. Includes bibliographical references (p. 91-95).

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This thesis describes a new method of obtaining suitable equal-ripple rational functions for use in the synthesis of networks. It has two principal advantages over other methods used for this purpose. Firstly, it is capable of finding the best approximation to a given magnitude function, phase function or both simultaneously. The error of approximation may be weighted as desired at any frequency in the range of approximation. Secondly, it is easily adapted for use on anautomatic computer. This enables quick comparison of the approximations produced by using rational functions of different orders of complexity. / Applied Science, Faculty of / Electrical and Computer Engineering, Department of / Graduate

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This research investigates the performance of an existing structural damage detection method (SDIM) when only experimentally-obtained measurement information can be used to calculate the frequency response functions used to detect damage. The development of a SDIM that can accurately identify damage while processing measurements containing realistic noise levels and overcoming experimental modeling errors would provide a robust method for identifying damage in the larger, more complex structures found in practice. The existing SDIM program, GaDamDet, uses an advanced genetic algorithm, along with a two-dimensional finite element model of the structure, to identify the location and the severity of damage using the linear vibration information contained in frequency response functions (FRF) as response signatures. Datagen is a Matlab program that simulates the three-dimensional dynamic response of the four-story, two-bay by two-bay UBC test structure built at the University of British Columbia. The dynamic response of the structure can be obtained for a range of preset damage cases or for any user-defined damage case. Datagen can be used to provide the FRF measurement information for the three-dimensional test structure. Therefore, using the FRF measurements obtained from the UBC test structure allows for a more realistic evaluation of the performance of the SDIM provided by GaDamDet as the impact on performance of more realistic noise and model errors can be investigated. Previous studies evaluated the performance of the SDIM using only simulated FRF measurements obtained from a two-dimensional structural model. In addition, the disparity between the two-dimensional model used by the SDIM used to identify damage and the measurements obtained from the three-dimensional test structure is analyzed. The research results indicate that the SDIM is able to accurately detect structural damage to individually damaged members or to within a damaged floor, with few false damages identified. The SDIM provides an easy to use, visual, and accurate algorithm and its performance compares favorably to performance of the various damage detection algorithms that have been proposed by researchers to detect damage in the three-dimensional structural benchmark problem.

The objective of this project was to design and implement an experimental hydraulic system that simulates joint flexibility of a single rigid link flexible joint robot manipulator, with the ability of changing the joint flexibilitys parameters. Such a system could facilitate future control studies of robot manipulators by reducing investigation time and implementation cost of research. It could also be used to test the performance of different strategies to control the movement of flexible joint manipulators.<p>A hydraulic rotary servo motor was used to simulate the action of a flexible joint robot manipulator. It was a challenging task, since the control of angular acceleration was required. <p>A single-rigid-link, elastic-joint robot manipulator was mathematically modeled and implemented using Matlab. Joint flexibility parameters such as stiffness and damping, could be easily changed. This simulation was considered as a function generator to drive the hydraulic flexible joint robot. In this study the desired angular acceleration of the manipulator was used as the input to the hydraulic rotary motor and the objective was to make the hydraulic system follow the desired acceleration in the frequency range specified. The hydraulic system consisted of a servovalve and rotary motor. <p>A hydraulic actuator robot was built and tested. The results indicated that if the input signal had a frequency in the range of 5 to 15 Hz and damping ratio of 0.1, the experimental setup was able to reproduce the input signal with acceptable accuracy. Because of the inherent noise associated with the measurement of acceleration and some severe non-linearities in the rotary motor, control of the experimental test system using classical methods was not as successful as had been anticipated. This was a first stage in a series of studies and the results provide insight for the future application of more sophisticated control schemes.<p>

The objective of this project was to design and implement an experimental hydraulic system that simulates joint flexibility of a single rigid link flexible joint robot manipulator, with the ability of changing the joint flexibilitys parameters. Such a system could facilitate future control studies of robot manipulators by reducing investigation time and implementation cost of research. It could also be used to test the performance of different strategies to control the movement of flexible joint manipulators.<p>A hydraulic rotary servo motor was used to simulate the action of a flexible joint robot manipulator. It was a challenging task, since the control of angular acceleration was required. <p>A single-rigid-link, elastic-joint robot manipulator was mathematically modeled and implemented using Matlab. Joint flexibility parameters such as stiffness and damping, could be easily changed. This simulation was considered as a function generator to drive the hydraulic flexible joint robot. In this study the desired angular acceleration of the manipulator was used as the input to the hydraulic rotary motor and the objective was to make the hydraulic system follow the desired acceleration in the frequency range specified. The hydraulic system consisted of a servovalve and rotary motor. <p>A hydraulic actuator robot was built and tested. The results indicated that if the input signal had a frequency in the range of 5 to 15 Hz and damping ratio of 0.1, the experimental setup was able to reproduce the input signal with acceptable accuracy. Because of the inherent noise associated with the measurement of acceleration and some severe non-linearities in the rotary motor, control of the experimental test system using classical methods was not as successful as had been anticipated. This was a first stage in a series of studies and the results provide insight for the future application of more sophisticated control schemes.<p>