Thesis (M.S.)--Auburn University, 2007. / Abstract. Vita. Includes bibliographic references (ℓ. 50-51)

This research investigates the possibility of controlling a simple biped having two degrees of freedom only. The biped robot walked on large feet. Having large feet enabled the robot to stand on one leg stably. At any time, the robotà ­s center of gravity remained above the area covered by one of the feet. Two servos actuated the two degrees of freedom tilting the robot to the side or moving the legs forward and backward. The biped moved by alternately tilting and striding. Turns were produced by dragging the feet along the ground. As the feet dragged, the friction generated under the feet created a turning moment that rotated the robot. Thus, the robot was able to step and turn on a flat surface. A control algorithm was developed to attempt trajectory tracking with the biped. Trajectories along a surface can be defined in terms of linear and angular velocities. In this research, it was assumed that a high level controller had transformed a desired trajectory into discrete steps of linear and angular velocities. Motion tests showed how various settings of the servos affected the step length and turning angle of the robot. To produce the desired velocities, a program was created to select the servo commands and set the speed parameters. This program applied knowledge of the expected step length and turning angle and performed feedforward control of the velocities. This investigation identified a trajectory tracking scheme that could be used in an observer feedback scenario to achieve accurate control. / Master of Science

A busca por formas mais eficientes quanto ao arrasto aerodinâmico de veículos rodoviários resultou recentemente em uma maior quantidade de pesquisas para compreensão do escoamento sobre o veículo quando este apresenta um ângulo de escorregamento aerodinâmico diferente de zero. O presente trabalho apresenta o desenvolvimento de uma metodologia para análise linear de estabilidade do modelo dinâmico do veículo sob manobras de baixa severidade e considerando carregamentos aerodinâmicos. Um modelo dinâmico não-linear simplificado foi também desenvolvido utilizando dados de um veículo típico visando à comparação entre as metodologias. Ensaios experimentais em túnel de vento e simulações de fluidodinâmica computacional foram realizados utilizando-se uma geometria simplificada de um veículo visando à obtenção de valores dos carregamentos aerodinâmicos de força lateral e momento de guinada e à compreensão dos mecanismos de formação dos carregamentos aerodinâmicos. Os resultados obtidos mostram uma boa correlação entre os modelos linear e não-linear e relevante influência dos carregamentos aerodinâmicos de força lateral e momento de guinada na estabilidade estática do sistema. / The research for more efficient shapes regarding road vehicles aerodynamic drag resulted recently in an improved number of researches aiming at the understanding of the flow field over the vehicle when it has an aerodynamic slip angle different of zero. This work presents the development of a methodology for linear stability analysis of a vehicle dynamic model under low severity maneuvers and considering aerodynamic loads. A non-linear dynamic model has also been developed with information from a typical vehicle for comparison between the methodologies. Wind tunnel testing and computational fluid dynamics simulation have been carried out with simplified vehicle geometry in order to measure the aerodynamic side force and yawing moment and provide information for the understanding of the mechanisms generating the aerodynamic loads. The results show a good correlation between the linear and non-linear models and a relevant influence of the aerodynamic side force and yawing moment on the static stability of the system.

Approved for public release; distribution is unlimited / The VAX/VMS UIS graphics library routines were used in the creation of a menu driven, interactive program which solves basic preliminary ship design problems. The program uses a menu with active mouse and keyboard to select options, enter data, and control program execution. At present, the program solves transverse and longitudinal static stability problems and predicts the effects of shifting weight in three planes. It also calculates the hydrodynamic derivatives for maneuvering performance and predicts the turning circle characteristics of the ship. Provisions for a hardcopy, detailed report are also included. Space has been allocated to include future program modules or user supplied programs.

A busca por formas mais eficientes quanto ao arrasto aerodinâmico de veículos rodoviários resultou recentemente em uma maior quantidade de pesquisas para compreensão do escoamento sobre o veículo quando este apresenta um ângulo de escorregamento aerodinâmico diferente de zero. O presente trabalho apresenta o desenvolvimento de uma metodologia para análise linear de estabilidade do modelo dinâmico do veículo sob manobras de baixa severidade e considerando carregamentos aerodinâmicos. Um modelo dinâmico não-linear simplificado foi também desenvolvido utilizando dados de um veículo típico visando à comparação entre as metodologias. Ensaios experimentais em túnel de vento e simulações de fluidodinâmica computacional foram realizados utilizando-se uma geometria simplificada de um veículo visando à obtenção de valores dos carregamentos aerodinâmicos de força lateral e momento de guinada e à compreensão dos mecanismos de formação dos carregamentos aerodinâmicos. Os resultados obtidos mostram uma boa correlação entre os modelos linear e não-linear e relevante influência dos carregamentos aerodinâmicos de força lateral e momento de guinada na estabilidade estática do sistema. / The research for more efficient shapes regarding road vehicles aerodynamic drag resulted recently in an improved number of researches aiming at the understanding of the flow field over the vehicle when it has an aerodynamic slip angle different of zero. This work presents the development of a methodology for linear stability analysis of a vehicle dynamic model under low severity maneuvers and considering aerodynamic loads. A non-linear dynamic model has also been developed with information from a typical vehicle for comparison between the methodologies. Wind tunnel testing and computational fluid dynamics simulation have been carried out with simplified vehicle geometry in order to measure the aerodynamic side force and yawing moment and provide information for the understanding of the mechanisms generating the aerodynamic loads. The results show a good correlation between the linear and non-linear models and a relevant influence of the aerodynamic side force and yawing moment on the static stability of the system.

This thesis examines the effect of cooling of peripheral parts of lower limbs on postural stability. The introduction describes the mechanisms how cold effects the human organism and individual tissues exposed to cold, such as skin, muscles, tendons, ligaments and nerves. In addition, postural stability, etiology of balance disorders and their implications are described. The aim of the practical part of the thesis is to assess the impact of cooling of feet on postural stability and also to determine the duration of such an effect. Static stability was assessed on 26 healthy individuals with a Zebris FDT-H instrument. The cooling procedure was carried out with 10-12řC water over a period of 12 minutes. Postural stability was measured 3 times during the experiment: before the cooling, immediately after the cooling and 1 minute after the cooling. The measured variables were: the 95% COP (Centre of Pressure) confidence ellipse area, COP trajectory and COP average velocity and the distribution of weight on the soles. The impact of the cooling procedure on the 95% confidence area was statistically significant. The results of other measurements also demonstrated increased values of measured variables after the cooling procedure. The persistence of the cooling effect was evaluated by comparing the first...

Yes / This paper proposes a new index to determine the static voltage stability of the load buses in a power network for certain operating conditions and hence identifies load buses which are close to voltage collapse. The proposed index is formulated from the quadratic equation derived from a two-bus network and is computed using the apparent power and the line impedance. The proposed index shows how far the load buses from their voltage stability limit and hence the most sensitive bus can be identified according to maximum loadability. 14 bus IEEE reliability test system is used to study the performance of the proposed index for its validity. A comparison is also made between proposed index and some other indices found in the literature. The results are discussed and key conclusion drawn.

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No. of bitstreams: 2 Dissertação - Jordana Lopes Morais - 2017.pdf: 10502975 bytes, checksum: eb09d5eefe42f47e2eed7a16b877ce9e (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2017-06-29 / Conselho Nacional de Pesquisa e Desenvolvimento Científico e Tecnológico - CNPq / The objective of this work is the study of modal coupling in the field of transversal displacement and the search for the least amount of degrees of freedom possible to compose the modal expansion, in order to correctly represent the nonlinear behavior in cylindrical panels simply supported and submitted to a static axial loading. Nonlinear equations are deduced from their energy functionals, represented by the Airy stress function and the the strain field is based on the nonlinear Donnell shallow shell theory. The transverse displacement field is determined by the perturbation method, obtaining the non-linear modes that couple to the linear mode of vibration, then the non-linear equilibrium equations are discretized by the Galerkin method. Linear and non-linear analyzes were developed for many types of cylindrical panel geometries, varying values for radius, circumferential length and axial length. The linear analyzes aim to find the buckling modes with their respective buckling loads. In the nonlinear analysis the behavior of the cylindrical panels and the influences of the nonlinear couplings present in the transverse displacement field are studied in order to find a modal expansion that represents the correct behavior of the cylindrical panel with the least amount of possible coupled modes. The most appropriate modal solution is formed by a vibration mode described by sine-type harmonic functions, and a mode composed of harmonic functions of the cosine type. Then, from the modal expansion found, we study the static stability of the cylindrical panels by means of the equilibrium paths and the surfaces of total potential energy. In order to confirm the validity of the modal expansion that is presented as the most adequate, we investigate the static stability of cylindrical panels for two other models of modal solution. Also, the influence of initial geometric imperfections on the nonlinear behavior of cylindrical panels and the static stability of their equilibrium paths is verified. / O trabalho tem como objetivo o estudo do acoplamento modal no campo de deslocamento transversal e a busca pela menor quantidade de graus de liberdade possível para compor a expansão modal, de forma a representar corretamente o comportamento não linear em painéis cilíndricos simplesmente apoiados e submetidos à um carregamento axial estático. As equações não lineares de movimento são deduzidas a partir dos funcionais de energia, representadas pela função de tensão de Airy e pelos campos de deformações que seguem a teoria não linear de Donnell para cascas abatidas. O campo de deslocamento transversal é determinado através do método da perturbação, obtendo os modos não lineares que se acoplam ao modo linear de vibração, então as equações não lineares de equilíbrio são discretizadas pelo método de Galerkin. Desenvolveu-se neste trabalho análises lineares e não lineares para vários tipos de geometrias de painéis cilíndricos, variando valores para o raio, o comprimento circunferencial e o comprimento axial. As análises lineares têm como finalidade encontrar os modos de flambagem com suas respectivas cargas de flambagem. Nas análises não lineares estuda-se o comportamento dos painéis cilíndricos avaliando-se as interferências geradas pelos acoplamentos não lineares, presentes no campo de deslocamento transversal, a fim de encontrar uma expansão modal que represente o comportamento correto do painel cilíndrico com a menor quantidade de modos acoplados possível. A solução modal que se apresenta mais adequada é formada por um modo de vibração descrito por funções harmônicas do tipo seno, e um modo composto por funções harmônicas do tipo cosseno. Então, a partir da expansão modal encontrada, estuda-se a estabilidade estática dos painéis cilíndricos por meio dos caminhos de equilíbrio e das superfícies de energia potencial total. A fim de confirmar a validade da expansão modal que se apresenta como a mais adequada, investiga-se a estabilidade estática de painéis cilíndricos para outros dois modelos de solução modal. Ainda, verifica-se a influência de imperfeições geométricas iniciais no comportamento não linear dos painéis cilíndricos e na estabilidade estática dos seus caminhos de equilíbrio.

This diploma thesis deals with a stability and manoeuvrability of experimental aircraft VUT 001 MARABU. It contains calculation of aerodynamic stability derivations and other data necessary for evaluation of static and dynamic stability. Assessment of convenient autopilot.

This master thesis is focused on aerodynamic design of transonic glider, which is assigned for following an airliner at cruising regime of flight. Main goal of the thesis is to determine basic geometrical design of airplane with respect to Whitcomb aera rule, mass analysis and drag polar. Weight analysis includes determining center of gravity according to longitudinal static stability margin. The drag polar of the airplane is determine for cruising regime of flight, that means the regime of following an airliner.