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Master of Science / Department of Mechanical and Nuclear Engineering / Dale Schinstock / There is a trend in the control literature and in university control education research to develop inexpensive laboratory equipment for control based laboratories. But can using cheaper equipment obfuscate the concepts we are trying to demonstrate in the experiments? To investigate this, lab concepts were examined using an inexpensive platform developed at Kansas State University, Eeva, and compared to the existing lab equipment used in the introductory controls course, the MotorLab. While many lab concepts were successfully demonstrated on the cheaper hardware, they were obscured by higher order effects such as speed filters, back EMF effects, and encoder resolution. The effective operating range of the hardware also suffered from lower saturation limits and higher friction values, making the design of experiments more difficult. Care should be taken when designing inexpensive laboratory equipment to ensure that the lessons desired can still be demonstrated clearly to the students using the equipment.

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Hui Fong-fong. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 84-85). / Abstracts in English and Chinese. / Chapter 1 --- INTRODUCTION --- p.1 / Chapter 1.1 --- Objective --- p.1 / Chapter 1.2 --- Background --- p.1 / Chapter 1.3 --- Mechanism and History of SMA --- p.3 / Chapter 1.4 --- Organization of the thesis --- p.4 / Chapter 2 --- LITERATURY SURVEY --- p.6 / Chapter 2.1 --- Previous achievements in micro robot --- p.6 / Chapter 2.1.1 --- Micro-robot with mechanical devices --- p.6 / Chapter 2.1.2 --- Micro-robot with smart materials --- p.7 / Chapter 2.1.3 --- Micro-robot with micro actuators --- p.8 / Chapter 2.2 --- Previous work in improving the SMA wire response --- p.10 / Chapter 2.2.1 --- Fixed external cooling System --- p.10 / Chapter 2.2.2 --- Dynamic external cooling system --- p.12 / Chapter 2.2.3 --- Physical Conversion --- p.13 / Chapter 2.3 --- Summary of literature survey --- p.14 / Chapter 3 --- 3-DOF SMA MICRO ROBOT~AN APPLICATION FOR SMA ACTUATORS --- p.15 / Chapter 3.1 --- Robot conceptual design --- p.15 / Chapter 3.2 --- Structural analysis for the propulsion of robot --- p.17 / Chapter 3.3 --- Two-way shape memory effect --- p.18 / Chapter 3.4 --- Material Selection --- p.19 / Chapter 3.4.1 --- Nickel-Titanium Alloys --- p.19 / Chapter 3.4.2 --- Copper-based Alloys --- p.20 / Chapter 3.4.3 --- Comparison of Ni-Ti and Copper-based alloys --- p.20 / Chapter 3.5 --- Fabrication process of micro robot --- p.21 / Chapter 3.5.1 --- Setting the shape of Nitinol wires --- p.22 / Chapter 3.5.2 --- Modifying the spring length --- p.23 / Chapter 3.5.3 --- Training for two-way memory --- p.24 / Chapter 3.5.3.1 --- Over deformation in Martensitic condition --- p.25 / Chapter 3.5.3.2 --- Trained by repeating Cycling --- p.25 / Chapter 3.5.3.3 --- Trained by Pseudoelastic Cycling --- p.26 / Chapter 3.5.3.4 --- Training by Constrained Temperature Cycling of Deformed Martensite --- p.26 / Chapter 3.5.4 --- Fabrication of Body part --- p.26 / Chapter 3.6 --- Locomotion methods --- p.28 / Chapter 3.7 --- Bending control --- p.29 / Chapter 4 --- HEAT TRANSFER ENHANCEMENT BY INCREASING CONVECTIVE SURFACE AREA --- p.31 / Chapter 4.1 --- Heat transfer --- p.31 / Chapter 4.2 --- Simplified Heat Transfer Analysis --- p.32 / Chapter 4.2.1 --- Analysis of Theoretical Results --- p.36 / Chapter 4.3 --- Verifying the reliability --- p.38 / Chapter 4.4 --- Mathematical Model to Match Experimental Conditions --- p.39 / Chapter 4.4.1 --- Mathematical modification by considering the connector --- p.39 / Chapter 4.4.2 --- Matching by introducing the correction factor --- p.40 / Chapter 4.5 --- Experimental model and modification of parameters --- p.41 / Chapter 5 --- LASER-MICROMACHINING --- p.44 / Chapter 5.1 --- Laser micro-fabrication of micro grooves on SMA wires --- p.44 / Chapter 5.2 --- Background on Laser-micromachining --- p.45 / Chapter 5.3 --- Basic Mechanisms in Lasers --- p.46 / Chapter 5.4 --- System Description --- p.47 / Chapter 5.5 --- Laser characteristic and groove fabrication --- p.48 / Chapter 5.5.1 --- Focal Spot Size --- p.48 / Chapter 5.5.2 --- Beam-focusing conditions --- p.49 / Chapter 5.6 --- Grooves measurement --- p.54 / Chapter 5.6.1 --- WYKO measurement --- p.54 / Chapter 5.6.2 --- SEM estimation --- p.57 / Chapter 6 --- EXPERIMENTAL RESULTS --- p.58 / Chapter 6.1 --- Experimental Setup for Temperature Measurement --- p.58 / Chapter 6.2 --- Experimental and Theoretical Comparison --- p.59 / Chapter 6.2.1 --- Improved Performance of lasered SMA wires --- p.59 / Chapter 6.2.2 --- Comparison of Experimental and Theoretical Results --- p.60 / Chapter 6.3 --- Effect of Micro-grooves on SMA Force Output --- p.63 / Chapter 6.3.1 --- Force Measurement Setup --- p.64 / Chapter 7 --- OPTIMUM PARAMETERS FOR HEAT TRANSFER --- p.66 / Chapter 7.1 --- Assumptions --- p.66 / Chapter 7.2 --- Mathematical Formulation --- p.66 / Chapter 7.2.1 --- Width of groove --- p.67 / Chapter 7.2.2 --- Depth of groove --- p.70 / Chapter 7.2.3 --- Number of groove --- p.72 / Chapter 7.3 --- Experimental Validation --- p.75 / Chapter 7.3.1 --- Repetition time and the depth of groove --- p.75 / Chapter 7.3.2 --- Validating the depth effect --- p.77 / Chapter 8 --- CONCLUSION --- p.80 / Chapter 9 --- FUTURE WORK --- p.81 / Chapter A. --- APPENDIX --- p.82 / Chapter A. 1 --- Procedures for quick WYKO surface profile measurements --- p.82 / BIBLIOGRAPHY --- p.84

Tse, Kim Fung. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2007. / Includes bibliographical references (leaves 103-109). / Abstracts in English and Chinese. / Abstract --- p.i / List of Figure --- p.iii / List of Table --- p.vi / Chapter Chapter 1 : --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Background information --- p.2 / Chapter 1.2.1 --- Similar researches on testbed construction --- p.2 / Chapter 1.2.2 --- Formation control theories --- p.2 / Chapter 1.2.3 --- Robot control architectures --- p.3 / Chapter 1.3 --- Basic design of our testbed --- p.4 / Chapter 1.4 --- The organization of this thesis --- p.6 / Chapter Chapter 2 : --- Literature Survey --- p.7 / Chapter 2.1 --- Similar researches on testbed construction --- p.7 / Chapter 2.2 --- Sensors for Distance Detection --- p.10 / Chapter 2.2.1 --- IR Sensor --- p.10 / Chapter 2.2.1 --- Ultrasonic Sensor --- p.11 / Chapter 2.3 --- Formation control theories --- p.11 / Chapter 2.3.1 --- Behavior-based approach --- p.11 / Chapter 2.3.2 --- Leader-follower approach --- p.13 / Chapter 2.3.3 --- Virtual Structure approach --- p.13 / Chapter 2.4 --- Robot control architectures --- p.14 / Chapter 2.4.1 --- Centralized robot controlling system --- p.14 / Chapter 2.4.2 --- Decentralized robot controlling system --- p.15 / Chapter 2.5 --- Summary --- p.16 / Chapter Chapter 3 : --- Wheeled Robot Design --- p.18 / Chapter 3.1 --- Layer Concept in Robot Construction --- p.19 / Chapter 3.1.1 --- Processing layer --- p.20 / Chapter 3.1.2 --- Sensing layer --- p.22 / Chapter 3.1.3 --- Actuating layer (Wheeled Robot) --- p.24 / Chapter 3.2 --- Control Station Setup --- p.27 / Chapter 3.3 --- Sensor performance --- p.31 / Chapter 3.3.1 --- Distance Detection --- p.31 / Chapter 3.3.2 --- Direction Detection --- p.34 / Chapter 3.4 --- "Experiments, results and discussions" --- p.42 / Chapter 3.4.1 --- Experiment 1 - Experiment on MICA performance --- p.42 / Chapter 3.4.2 --- Experiment 2 - Distance maintaining --- p.43 / Chapter 3.4.3 --- Experiment 3 - Robot tracking --- p.45 / Chapter 3.5 --- Summary --- p.47 / Chapter Chapter 4 : --- Levitated Robot Design --- p.49 / Chapter 4.1 --- Possible methods to lift the robots --- p.49 / Chapter 4.2 --- Air table for robot lifting --- p.50 / Chapter 4.2.1 --- Table with air pump --- p.51 / Chapter 4.2.2 --- Table with air compressor --- p.54 / Chapter 4.2.3 --- Comparisons and experiments on the designs --- p.56 / Chapter 4.3 --- New actuating layer for the levitated robot --- p.56 / Chapter 4.3.1 --- Possible actuators for robot to move on air table --- p.57 / Chapter 4.3.2 --- Actuator selection --- p.62 / Chapter 4.4 --- "Experiments, results and discussions" --- p.65 / Chapter 4.4.1 --- Experiment 1 - Testing the performance of actuators --- p.66 / Chapter 4.4.2 --- Experiment 2 - Movement determination --- p.70 / Chapter 4.4.3 --- Experiment 3 - Maintaining position on air table --- p.74 / Chapter 4.5 --- Summary --- p.75 / Chapter Chapter 5 : --- Improvement of Position Detection --- p.77 / Chapter 5.1 --- Direction detection --- p.78 / Chapter 5.1.1 --- One reading approach --- p.79 / Chapter 5.1.2 --- Three readings approach --- p.79 / Chapter 5.1.3 --- Effective readings approach --- p.80 / Chapter 5.1.4 --- Imaginary sensor approach --- p.80 / Chapter 5.2 --- Distance Detection --- p.87 / Chapter 5.3 --- Experimental Results --- p.89 / Chapter 5.4 --- Summary --- p.92 / Chapter Chapter 6 : --- Conclusions and Future work --- p.93 / Appendix --- p.97 / Reference --- p.103

Yongsheung Ou. / "March 2004." / Thesis (Ph.D.)--Chinese University of Hong Kong, 2004. / Includes bibliographical references (p. 119-130). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Electronic reproduction. Ann Arbor, MI : ProQuest Information and Learning Company, [200-] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Mode of access: World Wide Web. / Abstracts in English and Chinese.