Electrical mobile cart,one of low-speed small four-wheel vehicles, is becoming unsubstituted in the aged society recently. As we know, wheel Steering System plays an important role in riding comforts, stability of handling, and safety. The purpose of this study is to develop a systematic design procedure for the steering system of low-speed small four-wheel vehicles. First, to investigate the basic requirements and characteristics of low-speed small four-wheel vehicles. Second, to generalize the essential characteristics and establish the requirement book of steering systems. Third, kinematic design the original steering system by design procedure. Finally, kinematic design the single-A suspension steering system by design procedure.

Master of Landscape Architecture / Department of Landscape Architecture/Regional and Community Planning / Anne E. Beamish / The purpose of this research was to develop a mobile sensory garden to help children with Sensory Integration Disorders. Sensory Integration (SI) is how an individual processes sensory information. Issues with sensory integration can lead to behavioral disorders, which can cause difficulties with social-emotional skills, gross motor skills, fine motor skills, play skills, and self-help skills. The goal of the project was to develop a mobile sensory garden to help alleviate or reduce the negative aspects of Sensory Integration Disorders. The research involved qualitative research, projective design, and evaluative research on a mobile sensory cart that was used in an elementary school in Topeka, Kansas. Methods included: interviews, design/build, and observation. The current sensory room was inventoried in Williams Science & Fine Arts Elementary Magnet School in Topeka, Kansas, and the children who used were observed. The faculty at the school, including the principal, teachers whose students use the current sensory room, counselors, and other support faculty, were interviewed. Once the observations were analyzed, a mobile sensory garden cart was designed and built. The new cart was brought to the elementary school and placed in the sensory room. A second phase of observation assessed how the children interacted with the new mobile sensory garden cart. During the second phase of observation the children showed intense interest in the mobile sensory garden cart. Some of this can be attributed to it being a new item in the sensory room. Some of the most popular items included the zen garden, wood slices on the wooden dowel, and the plants. In the second week children transitioned to using both the sensory garden cart and the original items in the sensory room. When an item on the sensory garden cart best suited their needs, that item was chosen and when their needs were best suited by other items in the room then that item was chosen. Overall the mobile sensory garden cart was beneficial to the school and the children. It can be easily replicated and modified to fit the individual needs of the children and school.

L’objectif de ce travail a été de proposer une méthode de détection de défaut pour le déplacement longitudinal du chariot mobile du Radiotélescope de Nançay. L’importance de l’implémentation d’une procédure de détection des défauts a été mise en évidence grâce à la description des besoins du personnel en charge de la maintenance de cet instrument scientifique. Ce mémoire débute par un état de l’art sur différentes méthodes de diagnostic (détection et isolation des défauts), une analyse critique de ces méthodes est réalisée. Nous rappelons ensuite les notions d’observabilité avant de présenter l’observateur de Newton et l’observateur de Ciccarella. L’extension de ce dernier aux systèmes MIMO est réalisée par la suite. Une comparaison de ces différents observateurs termine le chapitre 2. Le chapitre 3 présente le Radiotélescope de Nançay et plus particulièrement la modélisation du déplacement longitudinal du chariot mobile. Une étude des propriétés du modèle est abordée par la suite. Le dernier chapitre traite de la validation partielle du modèle obtenu au chapitre précédent. Ensuite, l’utilisation des relations de redondances analytiques a permis de mettre en évidence la faisabilité du diagnostic sur l’application. L’utilisation de l’extension de l’observateur de Ciccarella pour le diagnostic permet de réaliser la détection de défaut capteur en utilisant un banc d’observateurs. Le suivi de paramètres du modèle permet de suivre l’évolution du système (vieillissement par exemple) et la détection de défaut actionneurs. Dans l’ensemble, les résultats obtenus permettent de conclure sur la bonne détection des défauts capteurs et actionneurs. / The aim of this work was to propose a fault detection method for the longitudinal displacement of the mobile cart of the Radiotelescope of Nançay. The importance of the implementation of a procedure of detection of the defects was highlighted thanks to the description the needs of the personnel in charge of maintenance for this scientific instrument. This memory begin with a state of the art on various methods of diagnosis (detection and isolation of the default), a critical analysis of these methods is carried out. We point out then the concepts of observability before presenting the Newton observer and the Ciccarella observer. The extension of this last to systems MIMO is carried out thereafter. A comparison of these various observers finishes chapter 2. Chapter 3 presents the Radiotelescope of Nançay and more particularly the modelling of the longitudinal displacement of the mobile cart. A study of the properties of the model is approached thereafter. The final chapter covers validation partial of the model obtained in the preceding Chapter. Then, the use of analytical redundancy relations made it possible to highlight the feasibility of the diagnosis on the application. The use of the extension of the Ciccarella observer for the diagnosis makes it possible to carry out the detection of sensor fault by using a bench of observers. The follow-up of parameters of the model makes it possible to follow the evolution of the system (ageing for example) and the detection of defect actuators. As a whole, the results obtained make it possible to conclude on good detection from the sensor and actuator faults.