In recent years, a flurry of interest has been shown for a relatively old technology called magneto-rheological fluids, or MR fluids. Multiple types of devices have been designed to implement this versatile fluid, including linear dampers, clutches, work-piece fixtures, and polishing machines. The devices have been used in automobiles, washing machines, bicycles, prosthetic limbs, and even smart structures. This thesis focuses on another application of MR dampers, involving super-sport motorcycles. This paper introduces the topics of MR dampers and motorcycle suspensions, and why the two would be a good combination. A detailed history of MR fluids, MR dampers, and motorcycle suspension technologies is given next. After a broad outline of MR dampers and motorcycle suspensions, the method of designing and manufacturing MR dampers is discussed. The damper design for this research is presented in detail, along with the design procedure used to make it. Next, laboratory testing for it is covered, including the test equipment, test procedure, and the laboratory test results. Upon laboratory test completion, the field test setup and procedure are presented. The results of field tests with stock dampers and MR dampers with a variety of control systems is discussed. The MR dampers provided a more stable ride than that of the OEM dampers. By reducing suspension displacement, settling time, and suspension oscillations, the MR dampers were able to reduce suspension geometry instability. Lastly, concluding remarks are made on the research presented. Design flaws are discussed, as well as recommendations for future work in the same area. / Master of Science

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This research is to carry out an experimental study to examine and verify the effectiveness of the control algorithms and strategies developed at the Advanced Engineering Design Laboratory (AEDL). For this purpose, two objectives are set to be achieved in this research. The first objective is to develop a generic experiment environment (test bed) such that different control approaches and algorithms can be implemented on it. The second objective is to conduct an experimental study on the examined control algorithms, as applied to the above test bed. <p>To achieve the first objective, two main test beds, namely, the real-time controllable (RTC) mechanism and the hybrid machine, have been developed based on a two degree of freedom (DOF) closed-loop five-bar linkage. The 2-DOF closed-loop mechanism is employed in this study as it is the simplest of multi-DOF closed-loop mechanisms, and control approaches and conclusions based on a 2-DOF mechanism are generic and can be applied to a closed-loop mechanism with a higher number of degrees of freedom. The RTC mechanism test bed is driven by two servomotors and the hybrid machine is driven by one servomotor and a traditional CV motor. To achieve the second objective, an experimental study on different control algorithms has been conducted. The Proportional Derivative (PD) based control laws, i.e., traditional iii PD control, Nonlinear-PD (NPD) control, Evolutionary PD (EPD) control, non-linear PD learning control (NPD-LC) and Adaptive Evolutionary Switching-PD (AES-PD) are applied to the RTC mechanism; and as applied to the Hybrid Actuation System (HAS), the traditional PD control and the SMC control techniques are examined and compared. <p> In the case of the RTC mechanism, the experiments on the five PD-based control algorithms, i.e., PD control, NPD control, EPD, NPD-LC, and AES-PD, show that the NPD controller has better performance than the PD controller in terms of the reduction in position tracking errors. It is also illustrated by the experiments that iteration learning control (ILC) techniques can be used to improve the trajectory tracking performance. <p>However, AES-PD showed to have a faster convergence rate than the other ILC control laws. Experimental results also show that feedback ILC is more effective than the feedforward ILC and has a faster convergence rate. In addition, the results of the comparative study of the traditional PD and the Computed Torque Control (CTC) technique at both low and high speeds show that at lower speeds, both of these controllers provide similar results. However, with an increase in speed, the position tracking errors using the CTC control approach become larger than that of the traditional PD control. In the case of the hybrid machine, PD control and SMC control are applied to the mechanism. The results show that for the control of the hybrid machine and the range of speed used in this experimental study, PD control can result in satisfactory performance. However, SMC proved to be more effective than PD control.

In a nuclear power plant, one of the most important systems for both safety and performance is the reactor cooling system. The cooling system is generally driven by one or more very large centrifugal pumps. Most reactor coolant pumps utilize a multi-stage mechanical face seal system for fluid containment. As a result, these seal systems are critical to safe, continued operation of a nuclear reactor. Without adequate sealing, loss of coolant volume can occur, and a reactor may be forced to shut down, costing the operating utility significantly until it can be brought online again. The main advantage of mechanical face seals is their self-adjusting properties. These seals are tuned so that they automatically adjust to varying fluid conditions to provide adequate leakage control. Because of the enormous pressures, complicated water chemistry, and possible large temperature transients, the mechanical seals inside a reactor coolant pump must be some of the most robust seals available. In addition, their long service life and continuous operation demand durability and the capability to adjust to a wide range of conditions. However, over time, wear, chemical deposition, or changing operating conditions can alter the face gap, which is the critical geometry between the sealing faces of a seal. An altered face gap can lead to undesirable conditions of too much or not enough leakage, which must be maintained within a certain range to provide lubrication and cooling to the seal faces without resulting in uncontrolled coolant volume loss. Nuclear power plants operate within strict leakage ranges, and long-term effects causing undesirable leakage can eventually necessitate a reactor shutdown if the seal cannot self-adjust to control the leakage. This document will examine possible causes of undesirable leakage rates in a commonly-used reactor coolant pump assembly. These causes will be examined to determine the conditions which promote them, the physical explanation for their effect on the operation of a mechanical seal, and possible methods of mitigation of both the cause and its effect. These findings are based on previous publications by utilities and technical and incident reports from reactor stations which detail actual incidents of abnormal seal performance and their root causes as determined by the utilities. Next, a method of increasing the ability of a mechanical seal to adapt to a wider range of conditions will be proposed. This method involves modifying an existing seal face to include a method of active control. This active control focuses on deliberately deforming one face of the mechanical sealing face pair. This deformation alters the face gap in order to make the fluid conditions inside the face gap more preferable, generating more or less leakage as desired. Two methods of actuation, hydraulic pressure and piezoelectric deformation, will be proposed. Finally, a model of the actively controlled seal faces will be introduced. This model includes a method of numerically solving the Reynolds equation to determine the fluid mechanics that drive the lubrication problem in the seal face and coupling the solution with a deformation analysis in a finite element model of a seal face. The model solves iteratively until a converged solution of a sealed pressure distribution, a resulting face deformation, and a calculated leakage rate is reached. The model includes a study of the effects of induced deformation in the seal via both hydraulic and piezoelectric actuation and the ability of this deformation to control the leakage rate.

This research is to carry out an experimental study to examine and verify the effectiveness of the control algorithms and strategies developed at the Advanced Engineering Design Laboratory (AEDL). For this purpose, two objectives are set to be achieved in this research. The first objective is to develop a generic experiment environment (test bed) such that different control approaches and algorithms can be implemented on it. The second objective is to conduct an experimental study on the examined control algorithms, as applied to the above test bed. <p>To achieve the first objective, two main test beds, namely, the real-time controllable (RTC) mechanism and the hybrid machine, have been developed based on a two degree of freedom (DOF) closed-loop five-bar linkage. The 2-DOF closed-loop mechanism is employed in this study as it is the simplest of multi-DOF closed-loop mechanisms, and control approaches and conclusions based on a 2-DOF mechanism are generic and can be applied to a closed-loop mechanism with a higher number of degrees of freedom. The RTC mechanism test bed is driven by two servomotors and the hybrid machine is driven by one servomotor and a traditional CV motor. To achieve the second objective, an experimental study on different control algorithms has been conducted. The Proportional Derivative (PD) based control laws, i.e., traditional iii PD control, Nonlinear-PD (NPD) control, Evolutionary PD (EPD) control, non-linear PD learning control (NPD-LC) and Adaptive Evolutionary Switching-PD (AES-PD) are applied to the RTC mechanism; and as applied to the Hybrid Actuation System (HAS), the traditional PD control and the SMC control techniques are examined and compared. <p> In the case of the RTC mechanism, the experiments on the five PD-based control algorithms, i.e., PD control, NPD control, EPD, NPD-LC, and AES-PD, show that the NPD controller has better performance than the PD controller in terms of the reduction in position tracking errors. It is also illustrated by the experiments that iteration learning control (ILC) techniques can be used to improve the trajectory tracking performance. <p>However, AES-PD showed to have a faster convergence rate than the other ILC control laws. Experimental results also show that feedback ILC is more effective than the feedforward ILC and has a faster convergence rate. In addition, the results of the comparative study of the traditional PD and the Computed Torque Control (CTC) technique at both low and high speeds show that at lower speeds, both of these controllers provide similar results. However, with an increase in speed, the position tracking errors using the CTC control approach become larger than that of the traditional PD control. In the case of the hybrid machine, PD control and SMC control are applied to the mechanism. The results show that for the control of the hybrid machine and the range of speed used in this experimental study, PD control can result in satisfactory performance. However, SMC proved to be more effective than PD control.

A parallel-type independently controllable transmission mechanism (PT-ICT) comprises of two planetary gear trains and two transmission-connecting members. It also includes an input shaft connecting to the input power source, a controller shaft connecting to the controller, an output shaft connecting to the output end, and a free-transmission end connecting to a secondary input source or output end. The controller can independently manipulate the transmitted output speed that is not affected by the variation of the Input speed. Adjusting the free-transmission¡¦s torque can reduce the power of the controller. This study proposes a new structural arrangement of the PT-ICT, and a corresponding test-bed for kinematic and dynamic experiments is also constructed. It first analyzes the theoretical expressions of angular speeds, torques, and power flows introduced on each rotational shaft. And then for the purpose of verifying the validity of the analytical theoretical results, this study also builds a 3D model configuration with its prototype of the PT-ICT is also built to perform kinematic and dynamic experiments. It shows that experimental results are in agreement with the design values. It is expected that applying the proposed PT-ICT mechanism to wind turbines in a variable wind farm can achieve high quality electricity output, extend workable wind speed range, and have no need of using any frequency converters.

In this thesis, we consider a rescheduling problem on non-identical parallel machines with controllable processing times. A period of unavailability occurs on one of the machines due to a machine failure, material shortage or broken tool. These disruptions may cause the original schedule to become inecient and sometimes infeasible. In order to generate a new and feasible schedule, we are dealing with two conflicting measures called the eciency and stability measures simultaneously. The eciency measure evaluates the satisfaction of a desired objective function value and the stability measure evaluates the amount of change between the schedule before and after the disruption. In this study, we measure stability by the number of disrupted jobs. In this thesis, the job is referred as a disrupted job if it completes processing after its planned completion time in the original schedule. The eciency is measured by the additional manufacturing cost of jobs. Decreasing number of disrupted jobs requires compressing the processing time of a job which cause an increase in its additional manufacturing cost. For that reason we cannot minimize these objectives at the same time. In order to handle this, we developed a mixed integer programming model for the considered problem by applying the epsilon-constraint approach. This approach makes focusing on the single objective possible to get efficient solutions. Therefore, we studied the problem of minimizing additional manufacturing cost subject to a limit on the number of disrupted jobs. We also considered a convex compression cost function for each job and solved a cost minimization problem by applying conic quadratic reformulation for the model. The convexity of cost functions is a major source of diculty in finding optimal integer solutions in this problem, but applying strengthened conic reformulation has eliminated this diculty. In addition, we prepare an improvement search algorithm in order to find good solution in reasonable CPU times. We use our heuristic procedure on optimality properties we showed for a single machine subproblem. We made computational experiments on small and medium scale test problems. Afterwards, we compare the performance of the improvement search algorithm and mathematical model for their solution quality and durations.

<p>One-dimensional ZnO nanostructures have great potential applications in the fields of optoelectronic and sensor devices. Therefore, it is really important to realize the controllable growth of one-dimensional ZnO nanostructures and investigate their properties. The main points for this thesis are not only to successfully realize the controllable growth of ZnO nonawires, nanorods and quantum dots (QDs), and also investigate the structure and optical properties in detail by the methods of scan electron microscope(SEM), transmission electron microscope(TEM), resonant Raman, photoluminescence(PL) and low-temperature time resolved PL spectrum.</p><p>to grown ZnO nanorod arrays (ZNAs) on Si substrates. Firstly, the effects of ZnO nanoparticles, pH value of chemical solution, angel θ between substrate and beaker bottom on the structures of the samples were symmetrically investigated and the optimized growth condition to grow ZNAs can be concluded as follows: seed layer of ZnO nanoparticles, pH=6 and <em>θ</em>=70°. On the basis of these, the diameter of ZNAs was well controlled from 150nm~40nm through adjusting the diameter and density of the ZnO nanoparticles pretreated on the Si substrates. The experimental results indicated that both diameter and density of ZnO nanoparticles on the substrates determined the diameter of ZNAs. But when the density is higher than the critical value of 2.3×10⁸cm^-2, the density will become the dominant factor to determine the diameter of ZNAs.</p><p>One the other hand, the optical properties of ZNAs were investigated in detail. The Raman and photoluminescence (PL) results showed that after an annealing treatment around 500oC in air atmosphere, the crystal structure and optical properties became much better due to the decrease of surface defects. The resonant Raman measurements excited by 351.1nm not only revealed that the surface defects play a significant role in the as-grown sample, but also suggested that the strong intensity increase of some Raman scatterings was due to both outgoing resonant Raman scattering effect and deep level defects scattering contribution for ZnO nanorods annealed from 500°C to 700°C. It is the first time to the best of our knowledge that the Raman measurements can be used to monitor the change of surface defects and deep level defects in the CBD grown ZnO nanorods. We have also presented, for the first time, a time resolved PL study in CBD grown ZnO nanorods with different diameters. The results show that the decay time of the excitons in the nanorods strongly depends on the diameter of the nanorods. The altered decay time is mainly due to the surface recombination process. The effective time constant related to the surface recombination velocity was deduced. A thermal treatment under 500°C will suppress the surface recombination channel, resulting in an improvement of the optical quality for the ZnO nanorods.</p><p>This thesis not only provides the effective way to control the size of ZNAs, but also obtains some beneficial results in aspects of their optical properties, which builds theoretical and experimental foundation for much better and broader applications of one-dimensional ZnO nanostructures.</p>

A mechanically controllable break junction setup was designed, constructed and characterized. The mechanically controllable break junction technique is commonly used for measurement of quantum conductance of metals and single molecule conductance. The technique relies on resistance to external vibrations disrupting the atomic or molecular junctions formed and should be in a low electronic noise environment. Through a series of experiments the setup was found to have high mechanical stability and low electronic noise. The quantum conductance of gold was measured repeatedly and a histogram was plotted showing good agreement with the literature. The results indicate that with modifications, the setup can be used to measure the conductance of single molecule junctions and single molecule thermoelectric properties.

One-dimensional ZnO nanostructures have great potential applications in the fields of optoelectronic and sensor devices.  Therefore, it is very important to realize the controllable growth of one-dimensional ZnO nanostructures and investigate their properties. The main points for this thesis are not only to successfully realize the controllable growth of ZnO nanorods (ZNRs), ZnO nanotubes (ZNTs) and ZnMgO/ZnO heterostructures, but also investigate the structure and optical properties in detail by means of scanning electron microscope (SEM), transmission electron microscope (TEM), resonant Raman spectroscopy (RRS), photoluminescence (PL), time resolved PL (TRPL), X-ray photoelectron spectroscopy (XPS) and Secondary ion mass spectrometry (SIMS). For ZNRs, on one hand, ZNRs have been successfully synthesized by a two-step chemical bath deposition method on Si substrates. The diameter of ZNRs can be well controlled from 150 nm to 40 nm through adjusting the diameter and density of the ZnO nanoparticles pretreated on the Si substrates. The experimental results indicated that both diameter and density of ZnO nanoparticles on the substrates determined the diameter of ZNRs. But when the density is higher than the critical value of 2.3×108cm-2, the density will become the dominant factor to determine the diameter of ZNRs. One the other hand, the surface recombination of ZNRs has been investigated in detail. Raman, RRS and PL results help us reveal that the surface defects play a significant role in the as-grown sample. It is the first time to the best of our knowledge that the Raman measurements can be used to monitor the change of surface defects and deep level defects in the CBD grown ZNRs. Then we utilized TRPL technique, for the first time, to investigate the CBD grown ZNRs with different diameters. The results show that the decay time of the excitons in ZNRs strongly depends on the diameter. The altered decay time is mainly due to the surface recombination process. A thermal treatment under 500°C can strongly suppress the surface recombination channel. A simple carrier and exciton diffusion equation is also used to determine the surface recombination velocity, which results in a value between 1.5 and 4.5 nm/ps. Subsequently, we utilized XPS technique to investigate the surface composition of as-grown and annealed ZNRs so that we can identify the surface recombination centers. The experimental results indicated that the OH and H bonds play the dominant role in facilitating surface recombination but specific chemisorbed oxygen also likely affect the surface recombination. Finally, on the basis of results above, we explored an effective way, i.e. sealing the beaker during the growth process, to effectively suppress the surface recombination of ZNRs and the suppression effect is even better than a 500oC post-thermal treatment. For ZNTs, the structural and optical properties have been studied in detail. ZNTs have been successfully evolved from ZNRs by a simple chemical etching process. Both temperature-dependent PL and TRPL results not only further testify the coexistence of spatially indirect and direct transitions due to the surface band bending, but also reveal that less nonradiative contribution to the emission process in ZNTs finally causes their strong enhancement of luminescence intensity. For ZnMgO/ZnO heterostructures, the Zn0.94Mg0.06O/ZnO heterostructures have been deposited on 2 inch sapphire wafer by metal organic chemical vapor deposition (MOCVD) equipment. PL mapping demonstrates that Mg distribution in the entire wafer is quite uniform with average concentration of ~6%. The annealing effects on the Mg diffusion behaviors in Zn0.94Mg0.06O/ZnO heterostructures have been investigated by SIMS in detail. All the SIMS depth profiles of Mg element have been fitted by three Gaussian distribution functions. The Mg diffusion coefficient in the as-grown Zn0.94Mg0.06O layer deposited at 700 oC is two orders of magnitude lower than that of annealing samples, which clearly testifies that the deposited temperature of 700 oC is much more beneficial to grow ZnMgO/ZnO heterostructures or quantum wells. This thesis not only provides the effective way to fabricate ZNRs, ZNTs and ZnMgO/ZnO heterostructures, but also obtains some beneficial results in aspects of their optical properties, which builds theoretical and experimental foundation for much better understanding fundamental physics and broader applications of low-dimensional ZnO and related structures. / Endimensionella nanostrukturer av ZnO har stora potentiella tillämpningar för optoelektroniska komponenter och sensorer. Huvudresultaten för denna avhandling är inte bara att vi framgångsrikt har realiserat med en kontrollerbar metod ZnO nanotrådar (ZNRs), ZnO nanotuber (ZNTs) och ZnMgO/ZnO heterostrukturer, utan vi har också undersökt deras struktur och optiska egenskaper i detalj. För ZNRs har diametern blivit välkontrollerad från 150 nm  ner till 40 nm. Den storlekskontrollerande mekanismen är i huvudsak relaterad till tätheten av ZnO partiklarna som är fördeponerade på substratet. De optiska mätningarna ger upplysning om att ytrekombinationsprocessen spelar en betydande roll för tillväxten av ZNR. En värmebehandling i efterhand  vid 500 grader Celsius eller användande av en förseglad glasbägare under tillväxtprocessen kan starkt hålla nere kanalerna för ytrekombinationen.För ZNT, dokumenterar vi inte bara samexistensen av rumsliga indirekta och direkta  övergångar på grund av bandböjning, men vi konstaterar också att vi har mindre icke-strålande bidrag till den optiska emissionsprocessen i ZNT. För ZnMgO/ZnO heterostrukturer konstaterar vi med hjälp av analys av Mg diffusionen i den växta och den i efterhand uppvärmda Zn(0.94)Mg(0.06)O filmen, att en tillväxt vid 700 grader Celsius är den mest lämpliga för att växa ZnMgO/ZnO heterostrukturer eller kvantbrunnar.   Denna avhandling ger en teoretisk och experimentell grund för bättre förståelse av grundläggande fysik och för tillämpningar av lågdimensionella strukturer. / SSF, VR