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11	Modelling the Dynamics of Mass Capture Lahey, Timothy John January 2013 (has links) This thesis presents an approach to modelling dynamic mass capture which is applied to a number of system models. The models range from a simple 2D Euler-Bernoulli beam with point masses for the end-effector and target to a 3D Timoshenko beam model (including torsion) with rigid bodies for the end-effector and target. In addition, new models for torsion, as well as software to derive the finite element equations from first principles were developed to support the modelling. Results of the models are compared to a simple experiment as done by Ben Rhody. Investigations of offset capture are done by simulation to show why one would consider using a 3D model that includes torsion. These problems have relevance to both terrestrial robots and to space based robotic systems such as the manipulators on the International Space Station capturing payloads such as the SpaceX Dragon capsule. One could increase production in an industrial environment if industrial robots could pick up items without having to establish a zero relative velocity between the end effector and the item. To have a robot acquire its payload in this way would introduce system dynamics that could lead to the necessity of modelling a previously ‘rigid’ robot as flexible. Mass Capture End-effector Torsion Structural Dynamics Payload Symbolic Finite Element Analysis Finite Element Method FEA FEM Reissner Warping Timoshenko Beam Euler-Bernoulli Beam Vibration Damping Jourdain Variational Offset Capture System Design Engineering
12	Modelling the Dynamics of Mass Capture Lahey, Timothy John January 2013 (has links) This thesis presents an approach to modelling dynamic mass capture which is applied to a number of system models. The models range from a simple 2D Euler-Bernoulli beam with point masses for the end-effector and target to a 3D Timoshenko beam model (including torsion) with rigid bodies for the end-effector and target. In addition, new models for torsion, as well as software to derive the finite element equations from first principles were developed to support the modelling. Results of the models are compared to a simple experiment as done by Ben Rhody. Investigations of offset capture are done by simulation to show why one would consider using a 3D model that includes torsion. These problems have relevance to both terrestrial robots and to space based robotic systems such as the manipulators on the International Space Station capturing payloads such as the SpaceX Dragon capsule. One could increase production in an industrial environment if industrial robots could pick up items without having to establish a zero relative velocity between the end effector and the item. To have a robot acquire its payload in this way would introduce system dynamics that could lead to the necessity of modelling a previously ‘rigid’ robot as flexible. Mass Capture End-effector Torsion Structural Dynamics Payload Symbolic Finite Element Analysis Finite Element Method FEA FEM Reissner Warping Timoshenko Beam Euler-Bernoulli Beam Vibration Damping Jourdain Variational Offset Capture System Design Engineering
13	Étude de l'univers domestique en milieu bourgeois chez les anglophones et les francophones du Québec : le cas Jourdain-Fiset / Cas Jourdain-Fiset Fillion, Pascal 24 April 2018 (has links) Notre étude porte sur le Fonds-Jourdain-Fiset, acquis en 1993 par le Musée de la civilisation, qui représente la presque totalité d'un univers domestique dans lequel ont évolué cinq générations de la famille Tourangeau-Fiset aux XIXe et XXe siècles. Son caractère exceptionnel découle surtout du fait que les objets qui composent le Fonds représentent des ensembles constitués qui sont, pour la grande majorité, en parfait état de conservation. L'objectif de notre étude est de découvrir l'existence éventuelle d'un modèle d'organisation spécifique de la vie domestique de la famille Tourangeau-Fiset. L'analyse du Fonds devrait permettre de dégager des éléments permettant d'affirmer que l'organisation domestique suivait un modèle semblable à ce que l'on retrouve dans les maisons bourgeoises anglophones. / Québec Université Laval, Bibliothèque 2013 D 3.5 UL 1998 F486 Fiset (Famille) Tourangeau (Famille) Fonds Jourdain-Fiset -- Catalogues

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