Engineering Dynamics (ED) courses are known as challenging and demanding for undergraduate students majored in many engineering fields, such as mechanical and aerospace engineering and civil and environmental engineering. The course is built upon the foundation and framework of mathematics and physics and requires students to have strong abstract thinking and reasoning skills. Rigid body dynamics (RBD), the second part of ED, investigates kinematics and kinetics of rigid bodies and is considered as a difficult subject by many undergraduate students because the course requires them to visualize abstract objects in motions. Although there have been many studies reporting the uses of interactive computer simulation and animation (CSA) modules as visual learning tools in RBD instruction, the effectiveness of the CSA modules on student learning of RBD were not rigorously and adequately investigated. This study employs a mixed method (QUAN – qual) approach and nonequivalent comparison group design to investigate the effectiveness of CSA modules on student learning of RBD, and to explore students’ attitudes towards and experiences with these modules. One hundred and sixty-one students in two recent semesters participated in this study: 74 in one semester participated in the comparison group and 87 in another semester participated in the intervention group. While the intervention group students studied RBD with CSA modules along with traditional lectures, the comparison group students studied RBD with traditional lectures only. Students in both groups were assessed with pretests and posttests using 10 bonus homework assignments developed to address core knowledge areas of RBD. The study uses a set of nonparametric statistical tools to analyze the pretest and posttest scores, mean differences, and magnitudes of the differences in learning gains between the two groups. Research findings from this study reveal that the intervention group students showed a significant increase in learning gains of overall knowledge, conceptual understanding, and procedural skills with Cliff’s effect sizes of 0.49, 0.41, and 0.47, respectively. CSA modules increased the intervention group students’ confidence, but they did not increase students’ motivation of learning RBD. This study supports the use of CSA modules as an instructional intervention to improve students’ conceptual understanding and procedural skills in learning engineering dynamics.

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京都大学 / 新制・課程博士 / 博士(工学) / 甲第24576号 / 工博第5082号 / 新制||工||1973(附属図書館) / 京都大学大学院工学研究科建築学専攻 / (主査)教授 大崎 純, 教授 竹脇 出, 教授 聲高 裕治 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

The purpose of this research is to present a class of Self-Retracting Fully-compliant Bistable Micromechanisms (SRFBM). Fully-compliant mechanisms are needed to overcome the inherent limitations of microfabricated pin joints, especially in bistable mechanisms. The elimination of the clearances associated with pin joints will allow more efficient bistable mechanisms with smaller travel. Small travel, in a linear path facilitates integration with efficient on-chip actuators. Tensural pivots are developed and used to deal with the compressive loading to which the mechanism is subject. SRFBM are modeled using the Pseudo-Rigid-Body Model and finite element analysis. Suitable configurations of the SRFBM concept have been identified and fabricated using the MUMPs process. Complete systems, including external actuators and electrical contacts are 1140 μm by 625 μm (individual SRFBM are less than 300 μm by 300 μm). These systems have been tested, demonstrating on-chip actuation of bistable mechanisms. Power requirements for these systems are approximately 150 mW. Testing with manual force testers has also been completed and correlates well with finite element modeling. Actuation force is approximately 500 μN for forward actuation. Return actuation can be achieved either by external actuators or by thermal self-retraction of the mechanism. Thermal self-retraction is more efficient, but can result in damage to the mechanism. Fatigue testing has been completed on a single device, subjecting it to approximately 2 million duty cycles without failure. Based on the SRFBM concept a number of improvements and adaptations are presented, including systems with further power and displacement reductions and a G-switch for LIGA fabrication.

Haptic interfaces are robotic force-feedback devices that give the user a sense of touch as they interact with virtual or remote environments. These interfaces act as input devices, mapping the 3-dimensional (3D) motions of the user's hand into 3D motions in a slave system or simulated virtual world. A major challenge in haptic interfaces is ensuring that the user's experience is a realistic depiction of the simulated environment. This requires the interface's design to be such that it does not hinder the user's ability to feel the forces present in the environment. This "transparency" is achieved by minimizing the device's physical properties (e.g., weight, inertia, friction). The primary objective of the work is to utilize compliant mechanisms as a means to improve transparency of a haptic interface. This thesis presents work toward the design of a fully compliant mechanism that can be utilized in haptic interfaces as a means to reduce parasitic forces. The approach taken in this work is to design a series of mechanisms that when combined act as a statically balanced compliant joint (SBCJ). Simulated and experimental results show that the methods presented here result in a joint that displays a significant decrease in return-to-home behavior typically observed in compliant mechanisms. This reduction in the torque needed to displace the joint and the absence of friction suggest that the joint design is conducive to the methods previously proposed for increasing transparency in haptic interfaces.

Simulating the motion of a non-rigid body under external forces is a difficult problem because of the complexity and flexibility of the non-rigid geometry and its associated dynamics. Physically based animation of objects moving in the wind is computationally expensive, so simulation-based approaches oversimplify the model by ignoring important effects, such as tree's sheltering. Motion capture records actual responses of a non-rigid body to external forces and helps solve these problems. Mainly focusing on natural trees and ropes as instances of non-rigid bodies, we present a new approach to building motion for objects in wind using incomplete motion capture data from non-rigid bodies. The incomplete motion capture data are automatically labeled by a cluster-based algorithm while noises are removed. For places with no motion capture data, we estimate forces and motion by interpolating the motion capture data according to the object's characteristics. We discuss a physically or statistically based approach to animate the whole non-rigid object. Basing our work on the collected motion capture data and the estimated motions, we can produce visually plausible and scalable animations of non-rigid objects under external forces at interactive frame rates.

Advances of magnetic resonance imaging (MRI) techniques enable visualguidance to identify the anatomical target of interest during the image guidedintervention(IGI). Non-rigid image registration is one of the crucial techniques,aligning the target tissue with the MRI preoperative image volumes. As thegrowing demand for the real-time interaction in IGI, time used for intraoperativeregistration is increasingly important. This work implements 3D diffeomorphicdemons algorithm on Nvidia GeForce GTX 1070 GPU in C++ based on CUDA8.0.61 programming environment, using which the average registration time hasaccelerated to 5s. We have also extensively evaluated GPU accelerated 3D diffeomorphicregistration against both CPU implementation and Matlab codes, and theresults show that GPU implementation performs a much better algorithm efficiency.

In this paper, using the general purpose software ABAQUS, a three dimensional (3-D) finite element model was built to simulate semi-rigid composite connection with precast hollowcore slabs. 3D continuum elements are used for all parts of the composite connections and the contact conditions between all the components are explicitly modelled. The model also incorporates nonlinear material characteristics and non-linear geometric behaviour. A simplified method to simulate the bolted end plate connection is introduced and validated. The proposed simulation method of the longitudinal shear transmission can accurately simulate the plastic state of the longitudinal rebars after cracking. Different materials are chosen by the authors to simulate the concrete slab, and the elastic¿plastic material property is adopted which can accurately simulate the moment¿rotation response of the connections. Numerical results are presented and compared with the experimental data and good agreement is obtained.

This thesis develops robotic skills for manipulating novel articulated objects. The degrees of freedom of an articulated object describe the relationship among its rigid bodies, and are often relevant to the object's intended function. Examples of everyday articulated objects include scissors, pliers, doors, door handles, books, and drawers. Autonomous manipulation of articulated objects is therefore a prerequisite for many robotic applications in our everyday environments. Already today, robots perform complex manipulation tasks, with impressive accuracy and speed, in controlled environments such as factory floors. An important characteristic of these environments is that they can be engineered to reduce or even eliminate perception. In contrast, in unstructured environments such as our homes and offices, perception is typically much more challenging. Indeed, manipulation in these unstructured environments remains largely unsolved. We therefore assume that to enable autonomous manipulation of objects in our everyday environments, robots must be able to acquire information about these objects, making as few assumption about the environment as possible. Acquiring information about the world from sensor data is a challenging problem. Because there is so much information that could be measured about the environment, considering all of it is impractical given current computational speeds. Instead, we propose to leverage our understanding of the task, in order to determine the relevant information. In our case, this information consists of the object's shape and kinematic structure. Perceiving this task-specific information is still challenging. This is because in order to understand the object's degrees of freedom, we must observe relative motion between its rigid bodies. And, as relative motion is not guaranteed to occur, this information may not be included in the sensor stream. The main contribution of this thesis is the design and implementation of a robotic system capable of perceiving and manipulating articulated objects. This system relies on Interactive Perception, an approach which exploits the synergies that arise when crossing the boundary between action and perception. In interactive perception, the emphasis of perception shifts from object appearance to object function. To enable the perception and manipulation of articulated objects, this thesis develops algorithms for perceiving the kinematic structure and shape of objects. The resulting perceptual capabilities are used within a relational reinforcement learning framework, enabling a robot to obtain general domain knowledge for manipulation. This composition enables our robot to reliably and efficiently manipulate novel articulated objects. To verify the effectiveness of the proposed robotic system, simulated and real-world experiments were conducted with a variety of everyday objects.

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