For this laser output to be optimized to the requirements of the workpiece the behaviour of the irradiated material must be known with reasonable accuracy. This requires modelling of the interaction processes for the materials concerned. The validity of the Fourier conduction theory within the context of high powered laser irradiation has been raised by several workers who have proved it to be invalid both in terms of its resolution of sharp energy gradients and inability to cope with non-equilibrium energy transport between electrons and lattice phonons. An alternative theory of energy transport based on the Electron Kinetic theory is therefore presented and the results compared with those obtained using the Fourier conduction theory. It is found that the results obtained using the Electron theory are in better agreement with available experimental results. The new model is then extended to include evaporation effects. Previous computer simulation of high mean power, high pulse repetition frequency (p.r.f.) lasers have predicted the characteristics of the first output pulse only. This pulse, however, is not representative of the subsequent pulses as the simulation is initiated using conditions based on thermodynamic equilibrium. Using a modified kinetic model which incorporates plasma temperature variation, optical cavity characteristics and transverse gas flow, the simulation was extended to include the second output power pulse. A substantial difference was found between the first and second pulse profiles. This extended model is essential as it identifies further the control variables which can be used to optimize beam characteristics for material processing applications. It also gives closer agreement with experimental measurements made under continuously running conditions.

The Large Eddy Simulation (LES) technique is used to simulate the different types of Newtonian and non-Newtonian pulsatile blood flow in a constricted as well as in a dilated channel to gain insight of the transition-to-turbulent blood flow due to the arterial stenosis and aneurysm. In the stenosed model, a cosine shape stenosis is placed at the upper wall of a 3D channel which reduces the cross-sectional area, whereas the aneurysm which is also placed at the upper wall dilates the channel cross-sectional area. In LES, a top-hat spatial grid-filter is applied to the Navier-Stokes equations of motion to separate the large scale flows, which carry the majority of the energy, from the small scale known as sub-grid scale (SGS).The large scale flows are resolved fully while the unresolved SGS motions are modelled using two different dynamic models to determine the Smagorinsky constant at each time step. Initially, an additive sinusoidal pulsatile velocity profile is used at the inlet of the model stenosis to generate the unsteady oscillating flow and a comparison is made between the results obtained by the additive and non-additive pulsation. Secondly, the physiological pulsatile flow in the same model stenosis is investigated, where the physiological pulsation is generated at the inlet using the first four harmonics of the Fourier series of pressure pulse. A comparison between the LES and the coarse Direct Numerical Simulation (DNS) results is drawn and the effects of the various harmonics of pressure pulse, length and percentage of the stenosis on the flow field are examined. Transition-to-turbulent physiological flow through the model of a double stenosis and an aneurysm is also investigated. Finally, the physiological pulsatile flow in a model of single stenosis is investigated using the various non-Newtonian blood viscosity models and the results are compared with the Newtonian model. For the additive sinusoidal pulsation case the maximum ratio of the SGS to molecular viscosity is 0.709 and for the non-additive case is 0.78 while Re =2000. The shape of the post-stenotic re-circulation region is totally different between the additive and non-additive case. In the additive case the upper wall pressure drop is larger than the non-additive case. Due to the large amplitude of the oscillation, transition happens earlier and the peak turbulent kinetic energy occurs at the post-lip of the stenosis. The intensity of the turbulent kinetic energy is higher in the additive sinusoidal pulsation case than the physiological pulsation. The maximum contribution of the SGS motion to the large -scale motion is 37.4 percent for the first harmonic physiological pulsation while 97 percent contribution from the first four harmonics case for Re =2000. The centreline turbulent kinetic energy is slightly higher in the first harmonic case than the first four harmonics. For the higher area reduction of the stenosis, the stress drop at the upper wall, the maximum shear stress at the lower wall and the turbulent kinetic energy increased. The intensity of the shear stress and the turbulent kinetic energy decreased when the length of the stenosis is increased. The break frequency of the energy spectra found from -5/3 to -10/3 for the velocity fluctuations and from -5/3 to -7/3 for the pressure fluctuations. Due to the presence of the second stenosis, the stress drop, the adverse pressure gradient and the turbulent intensity of the flow enhance significantly. Inside the aneurysm a large re-circulation region exists and the flow is turbulent for a asymmetric aneurysm and maximum turbulent intensity occurs between the centre and the ending segment of the aneurysm. Owing to the effects of the non-Newtonian viscosity, the length of the post-stenotic re-circulation region increased as well as the streamwise velocity and the turbulent kinetic energy decreased.

A space tether is a long cable used to couple satellites, probes or spacecrafts to each other or to other masses, such as a spent booster rocket, space station, or an asteroid. Space tethers are usually made of thin strands of high-strength fibres or conducting wires, which range from a few hundred metres to several kilometres and have a relatively small diameter. Space tethers can provide a mechanical connection between two space objects that enables a transfer of energy and momentum from one object to the other, and as a result they can be used to provide space propulsion without consuming propellant. Additionally, conductive space tethers can interact with the Earth's magnetic field and ionospheric plasma to generate thrust or drag forces without expending propellant. The motorised momentum exchange tether (MMET) was first proposed by Cartmell in 1996 and published in 1998. The system comprises a specially designed tether connecting two payload modules, with a central launcher motor. For the purposes of fundamental dynamical modelling the launcher mass can be regarded as a two part assembly, where the rotor is attached to one end of each tether subspan, and the other side is the stator, which is attached to the rotor by means of suitable bearings. Both the launcher and the payload can be attached to the tether by means of suitable clamps or bearing assemblies, dependent on the requirements of the design. The further chapters in this thesis focus on a series of dynamical models of the symmetrical MMET syste, including the dumbbell MMET system, the solid massless MMET system, the flexible massless MMET system, the solid MMET system and the discretised flexible MMET system. The models in this context have shown that including axial, torsional and pendular elasticity, the MMET systems have a significant bearing on overall performance and that this effect should not be ignored in future, particularly for control studies. All subsequent analyses for control applications should henceforth include flexible compliance within the modelling procedure. Numerical simulations have been given for all types of MMET models, in which, accurate and stable periodic behaviours are observed, including the rigid body motions, the tether spin-up and the flexible motions, with proper parameter settings. The MMET system's spin-up control methods design and analysis will henceforth be referenced on the results. For the non-linear dynamics and complex control problem, it was decided to investigate fuzzy logic based controllers to maintain the desired length and length deployment rate of the tether. A standard two input and one output fuzzy logic control (FLC) is investigated with numerical simulations, in which the control effects on the MMET system's spin-up are observed. Furthermore, to make the necessary enhancement to the fuzzy sliding mode control, a specialised hybrid control law, named F$\alpha$SMC is proposed, which combines fuzzy logic control with a SkyhookSMC control law together, then it is applied for the control of motorised space tether spin-up coupled with an flexible oscillation phenomenon. It is easy to switch the control effects between the SkyhookSMC and the FLC modes when a proper value of $\alpha$ is selected $(0<\alpha<1)$ to balance the weight of the fuzzy logic control to that of the SkyhookSMC control, and the hybrid fuzzy sliding mode controller is thus generated. Next, the simulations with the given initial conditions have been devised in a connecting programme between the control code written in $MATLAB$ and the dynamics simulation code constructed within $MATHEMATICA$. Both the FLC and the hybrid fuzzy sliding mode control methods are designed for the control of spin-up of the discretised flexible MMET system with tether-tube subspans, and the results have shown the validated effects of both these control methods for the MMET system spin-up with included flexible oscillation. To summarise, the objectives of this thesis are, firstly, to propose a series of new dynamical models for the motorised momentum exchange tethers; secondly, to discuss two types of control methods for the spin-up behaviour of a flexible motorised momentum exchange tether, which include a fuzzy logic control and a hybrid fuzzy sliding mode control. By the weight factor $\alpha$, fuzzy logic control and SkyhookSMC controllers can be balanced from one to each other, and there is observed difference for each of the elastic behaviour in the MMET system involving these MMET systems with different controllers - FLC($\alpha = 1$), F$\alpha$SMC($\alpha = 0.5$) and SkyhookSMC($\alpha = 0.0$). The results state the control effects for FLC, F$\alpha$SMC and FLC, which lead to stable spin-up behaviour with flexible oscillations.

The research focuses on an investigation of the erosion-corrosion behaviour of Cu-Ni-base alloys in aqueous environments. The principal objectives of the research were to examine the fundamental mechanisms of the erosion-corrosion attack. The work was focused on a standard Cu-10%Ni alloy that is used extensively in a variety of marine industries and on Marinel alloy, which is a high strength precipitation-hardened copper-nickel alloy. Erosion-corrosion tests were carried out for exposure times up to 72 hours, in a solid free 3.5% NaCl solution impinging at velocities of 2.38-86 m/sec, (Re=4500-86000), at temperatures of 19°C and 35°C. The overall erosion-corrosion behaviour and the direct corrosion component were monitored using gravimetric and electrochemical-monitoring techniques. Contributes from mechanical erosions were assessed by cathodically protecting specimens under impingement conditions. The research also considered the influence of various parameters such as temperature, time, velocity, salinity variations, and impingement angle. The extent and morphology of material deterioration and protective film formation under various environmental conditions were assessed, utilizing surface profiling equipment and light optical and scanning electron microscopy. The work has quantified the complex contributions of corrosion, erosion and synergy to the overall erosion-corrosion material loss. An important finding was the substantial superior erosion-corrosion resistance of Marinel compared to the standard Cu-10%Ni, with interesting effects of impinging velocity and time of exposure being observed. Also this work provided some clear evidence of significant potential benefits in terms of erosion-corrosion resistance, obtained by the exposure of Marinel at the elevated temperature.

The biofouling resistant coatings of hydrogel containing the cationic surfactants benzalkonium chloride and Arquad 2C-75 both extended the fouling free period in marine temperate waters. In the case of BAC the coating stayed clean for 10-12 weeks and the Arquad 2C-75 for 12-14 weeks. Due to the longer life of the hydrogel containing the Arquad 2C-75 instrument trials were carried out using this material. An effective method of attaching the coatings to the optical and membrane ports of sensors was developed and allows the coating to be either held in either a screw down or bolted polymer ring. The diffusion coefficient of cationic surfactants in seawater is reduced compared to diffusion coefficients in freshwater. In seawater the diffusion coefficient of benzalkonium chloride was found to be 2.44 x 10-6 cm2 s-1 compared to 7.78 x 10-6 cm2 s-1 in distilled water at 25°C. Careful choice of gas permeable membrane can result in a slightly longer biofouling lifetime, but only by 1-2 weeks. At 6 weeks all gas permeable membranes had significant fouling which affected their gas permeability. The diffusion rates of ammonia gas, a gas commonly measured in the sea, through PTFE gas sensor membranes varied between PTFE manufacturers with flux measurements ranging from 0.05-1131 µg cm-2 h-1. In addition to the hydrogel testing on instruments within this project a variety of external research groups and environmental agencies are currently testing the hydrogels on their instrumental ports.

This thesis describes the modelling, analysis and design of multirate sampled-data feed-back via the polynomial equations approach. The key theoretical contribution constitutes the embedding of the principles underpinning and algebra related to the switch and frequency decomposition procedures within a modern control framework, thereby warranting the use of available computer-aided control systems design software. A salient feature of the proposed approach consequently entails the designation of system models that possess dual time- and frequency-domain interpretations. Expositionally, the thesis initially addresses scalar systems excited by deterministic inputs, prior to introducing stochastic signals and culminates in an analysis of multivariable configurations. In all instances, overall system representations are formulated by amalgamating models of individual sub-systems. The polynomial system descriptions are shown subsequently to be compatible with the Linear Quadratic Gaussian and Generalised Predictive Control feedback system synthesis methods provide causality issues are dealt with appropriately. From a practical perspective, the polynomial equations approach proffers an alternative methodology to the state-variable techniques customarily utilised in this context and affords the insights and intuitive appeal associated with the use of transfer function models. Numerical examples are provided throughout the thesis to illustrate theoretical developments.

The work in this thesis starts with the development of a Graphical User Interface to aid the manual control of the experimental crane model and to achieve a better container management system. A structural analysis of the laboratory rig is then carried out. The technique used is to divide the whole structure into two parts: a stationary framework and a moving substructure (including its attachments). The dynamic effect of the moving substructure is represented by four equivalent, time-dependent, contacting forces (or lumped masses), and the dynamic behaviour of the stationary framework, induced by the moving substructure, is predicted by computing the responses to these forces (or lumped masses). Before the forced vibration responses can be obtained a finite element model of the scale crane rig has first to be established and validated by means of modal testing. A general technique for incorporating a standard finite element package into a procedure to calculate the dynamic responses of structures due to time-dependent moving point forces is then developed. In order to take the inertia effects of the moving substructure into account a new concept of equivalent time-dependent moving lumped masses is introduced. A general procedure has been developed to allow a standard finite element package to be extended to deal with the dynamic analyses of a three-dimensional framework subjected to the two-dimensional multiple moving masses. The theoretical results obtained are validated by comparison with experimental findings.

The thesis describes the development of a new continuum damage mechanics (hereafter, CDM) model for the deformation and failure of brittle matrix composites reinforced with continuous fibres. The CDM model is valid over sizes scales large compared to the spacing of the fibres and the dimensions of the damage. The composite is allowed to sustain damage in the form of matrix micro-cracking, shear delamination, tensile delamination and fibre failure. The constitutive equations are developed by decomposing the composite compliance into terms attributable to the fibre and matrix, and modelling the competing failure modes by intersecting failure surfaces based on maximum stress theory. The fibres are treated as being weakly bonded to the matrix so that the fibres only transmit axial loads, and fail in tension. The matrix is modelled as isotropic linear elastic and is treated as transversely-isotropic after damage has initiated. The effect of multiple matrix cracking on the stiffness was determined from experimental data, while failure was modelled by a rapid decay in the load bearing capacity. Although the model is motivated largely to proportional loading, matrix unloading and damage closure has been modelled by damage elasticity. During compression, the matrix stiffness is identical to the undamaged state with the exception that the fibres are assumed not to transmit compressive loads. The model was implemented computationally through a FORTRAN subroutine interfaced with the ABAQUS/Standard finite element solver. The CDM model was validated by comparing experimental and computational results of test specimens with unidirectional and balanced 0°-90° woven fibres of a brittle matrix composite, fabricated from polyester fibres in a polyester matrix. This composite system exhibits low elastic mismatch between fibres and matrix, and has similar non-dimensionalised stress-strain response to a SiC/SiC composite proposed for the exhaust diffuser unit of the Rolls-Royce EJ200 aero-engine.

This thesis focuses on the development of data-driven automated techniques to enhance performance assessment methods. These techniques include process control loop status monitoring, fault localisation in a number of interacting control loops and the detection and isolation of multiple oscillations in a multi-loop situation. Not only do they make use of controlled variables, but they also make use of controller outputs, indicator readings, set-points and controller settings. The idea behind loop status is that knowledge of the current behaviour of a loop is important when assessing MVC-based performance, because of the assumptions that are made in the assessment. Current behaviour is defined in terms of the kind of deterministic trend that is present in the loop at the time of assessment. When the status is other than steady, MVC-based approaches are inappropriate. Either the assessment must be delayed until steady conditions are attained or other methods must be applied. When the status is other than steady, knowledge of current behaviour can help identify the possible cause. One way of doing this is to derive another statistic, the overall loop performance index (OLPI), from loop status. The thesis describes a novel fault localisation technique, which analyses this statistic to find the source of a plant-wide disturbance, when a number of interacting control loops are perturbed by a single dominant disturbance/fault. Although the technique can isolate a single dominant oscillation, it is not able to isolate the sources of multiple, dominant oscillations. To do this, a novel technique is proposed that is based on the application of spectral independent component analysis (ICA). Spectral independent component analysis (spectral ICA) is based on the analysis of spectra derived via a discrete Fourier transform from time domain process data. The analysis is able to extract dominant spectrum-like independent components each of which has a narrow-bank peak that captures the behaviour of one of the oscillation sources. It is shown that the extraction of independent components with single spectral peaks can be guaranteed by an ICA algorithm that maximises the kurtosis of the independent components (ICs). This is a significant advantage over spectral principle component analysis (PCA), because multiple spectral peaks could be present in the extracted principle components (PCs), and the interpretation of detection and isolation of oscillation disturbances based on spectral PCs is not straightforward. The novel spectral ICA method is applied to a simulated data set and to real plant data obtained from an industrial chemical plant. Results demonstrate its ability to detect and isolate multiple dominant oscillations in different frequency ranges.

The performance of robotic manipulators is critical to their widespread use in industry. As manipulators become faster, their potential productivity can rise thus improving the return on the investment required to purchase them. Improving accuracy, on the other hand, increases the range of tasks for which the manipulator is suitable. The speed and accuracy of a manipulator is partly determined by the capability of the algorithm used to control it. Whilst being a highly non-linear multiple input, multiple output device, however, most industrial controllers are derived on the basis that the robot is a series of independent, linear actuator+ link subsystems. The resulting independent joint controller is simple to design and implement but is limited in its performance as link interactions and the non-linear effects of centrifugal and Coriolis forces degrade the accuracy at high manipulator velocities. Improvements in the control of manipulators may be made by incorporating a mathematical model of the manipulator in the control algorithm. Control schemes such as `computed torque' incorporate an inverse model of the manipulator to calculate the input torques required to force the end-effector to follow a desired trajectory. The equations of motion required to implement these controllers are large and complex even for relatively simple manipulators. This thesis explores how bond graph representations of robotic manipulators may be used to automate the implementation of model based controllers. To provide a practical basis for this research the bond graph derived controllers are tested on an experimental rigid, planar, direct drive two-link manipulator. It is shown how the bondgraph for this manipulator, including d.c. motor actuators, can be constructed and used to derive the equations of motion of the manipulator automatically. The bond graph model is then validated by comparing simulations obtained using these equations of motion with experimental data.