Matching Items (7)
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- All Subjects: Simulation
- Creators: Berman, Spring
Description
Nonregular screening designs can be an economical alternative to traditional resolution IV 2^(k-p) fractional factorials. Recently 16-run nonregular designs, referred to as no-confounding designs, were introduced in the literature. These designs have the property that no pair of main effect (ME) and two-factor interaction (2FI) estimates are completely confounded. In this dissertation, orthogonal arrays were evaluated with many popular design-ranking criteria in order to identify optimal 20-run and 24-run no-confounding designs. Monte Carlo simulation was used to empirically assess the model fitting effectiveness of the recommended no-confounding designs. The results of the simulation demonstrated that these new designs, particularly the 24-run designs, are successful at detecting active effects over 95% of the time given sufficient model effect sparsity. The final chapter presents a screening design selection methodology, based on decision trees, to aid in the selection of a screening design from a list of published options. The methodology determines which of a candidate set of screening designs has the lowest expected experimental cost.
ContributorsStone, Brian (Author) / Montgomery, Douglas C. (Thesis advisor) / Silvestrini, Rachel T. (Committee member) / Fowler, John W (Committee member) / Borror, Connie M. (Committee member) / Arizona State University (Publisher)
Created2013
Description
This dissertation explores different methodologies for combining two popular design paradigms in the field of computer experiments. Space-filling designs are commonly used in order to ensure that there is good coverage of the design space, but they may not result in good properties when it comes to model fitting. Optimal designs traditionally perform very well in terms of model fitting, particularly when a polynomial is intended, but can result in problematic replication in the case of insignificant factors. By bringing these two design types together, positive properties of each can be retained while mitigating potential weaknesses. Hybrid space-filling designs, generated as Latin hypercubes augmented with I-optimal points, are compared to designs of each contributing component. A second design type called a bridge design is also evaluated, which further integrates the disparate design types. Bridge designs are the result of a Latin hypercube undergoing coordinate exchange to reach constrained D-optimality, ensuring that there is zero replication of factors in any one-dimensional projection. Lastly, bridge designs were augmented with I-optimal points with two goals in mind. Augmentation with candidate points generated assuming the same underlying analysis model serves to reduce the prediction variance without greatly compromising the space-filling property of the design, while augmentation with candidate points generated assuming a different underlying analysis model can greatly reduce the impact of model misspecification during the design phase. Each of these composite designs are compared to pure space-filling and optimal designs. They typically out-perform pure space-filling designs in terms of prediction variance and alphabetic efficiency, while maintaining comparability with pure optimal designs at small sample size. This justifies them as excellent candidates for initial experimentation.
ContributorsKennedy, Kathryn (Author) / Montgomery, Douglas C. (Thesis advisor) / Johnson, Rachel T. (Thesis advisor) / Fowler, John W (Committee member) / Borror, Connie M. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Surgery is one of the most important functions in a hospital with respect to operational cost, patient flow, and resource utilization. Planning and scheduling the Operating Room (OR) is important for hospitals to improve efficiency and achieve high quality of service. At the same time, it is a complex task due to the conflicting objectives and the uncertain nature of surgeries. In this dissertation, three different methodologies are developed to address OR planning and scheduling problem. First, a simulation-based framework is constructed to analyze the factors that affect the utilization of a catheterization lab and provide decision support for improving the efficiency of operations in a hospital with different priorities of patients. Both operational costs and patient satisfaction metrics are considered. Detailed parametric analysis is performed to provide generic recommendations. Overall it is found the 75th percentile of process duration is always on the efficient frontier and is a good compromise of both objectives. Next, the general OR planning and scheduling problem is formulated with a mixed integer program. The objectives include reducing staff overtime, OR idle time and patient waiting time, as well as satisfying surgeon preferences and regulating patient flow from OR to the Post Anesthesia Care Unit (PACU). Exact solutions are obtained using real data. Heuristics and a random keys genetic algorithm (RKGA) are used in the scheduling phase and compared with the optimal solutions. Interacting effects between planning and scheduling are also investigated. Lastly, a multi-objective simulation optimization approach is developed, which relaxes the deterministic assumption in the second study by integrating an optimization module of a RKGA implementation of the Non-dominated Sorting Genetic Algorithm II (NSGA-II) to search for Pareto optimal solutions, and a simulation module to evaluate the performance of a given schedule. It is experimentally shown to be an effective technique for finding Pareto optimal solutions.
ContributorsLi, Qing (Author) / Fowler, John W (Thesis advisor) / Mohan, Srimathy (Thesis advisor) / Gopalakrishnan, Mohan (Committee member) / Askin, Ronald G. (Committee member) / Wu, Teresa (Committee member) / Arizona State University (Publisher)
Created2010
Energy efficient optimal formation control of a multiple quadrotor UAV system with uncertain payload
Description
This thesis presents the design and simulation of an energy efficient controller for a system of three drones transporting a payload in a net. The object ensnared in the net is represented as a mass connected by massless stiff springs to each drone. Both a pole-placement approach and an optimal control approach are used to design a trajectory controller for the system. Results are simulated for a single drone and the three drone system both without and with payload.
ContributorsHayden, Alexander (Author) / Grewal, Anoop (Thesis director) / Berman, Spring (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / Historical, Philosophical & Religious Studies, Sch (Contributor)
Created2022-05
Description
Multibody Dynamic (MBD) models are important tools in motion analysis and are used to represent and accurately predict the behavior of systems in the real-world. These models have a range of applications, including the stowage and deployment of flexible deployables on spacecraft, the dynamic response of vehicles in automotive design and crash testing, and mapping interactions of the human body. An accurate model can aid in the design of a system to ensure the system is effective and meets specified performance criteria when built. A model may have many design parameters, such as geometrical constraints and component mechanical properties, or controller parameters if the system uses an external controller. Varying these parameters and rerunning analyses by hand to find an ideal design can be time consuming for models that take hours or days to run. To reduce the amount of time required to find a set of parameters that produces a desired performance, optimization is necessary. Many papers have discussed methods for optimizing rigid and flexible MBD models, and separately their controllers, using both gradient-based and gradient-free algorithms. However, these optimization methods have not been used to optimize full-scale MBD models and their controllers simultaneously. This thesis presents a method for co-optimizing an MBD model and controller that allows for the flexibility to find model and controller-based solutions for systems with tightly coupled parameters. Specifically, the optimization is performed on a quadrotor drone MBD model undergoing disturbance from a slung load and its position controller to meet specified position error performance criteria. A gradient-free optimization algorithm and multiple objective approach is used due to the many local optima from the tradeoffs between the model and controller parameters. The thesis uses nine different quadrotor cases with three different position error formulations. The results are used to determine the effectiveness of the optimization and the ability to converge on a single optimal design. After reviewing the results, the optimization limitations are discussed as well as the ability to transition the optimization to work with different MBD models and their controllers.
ContributorsGambatese, Marcus (Author) / Zhang, Wenlong (Thesis advisor) / Berman, Spring (Committee member) / Inoyama, Daisaku (Committee member) / Arizona State University (Publisher)
Created2022
Description
Vehicles traverse granular media through complex reactions with large numbers of small particles. Many approaches rely on empirical trends derived from wheeled vehicles in well-characterized media. However, the environments of numerous bodies such as Mars or the moon are primarily composed of fines called regolith which require different design considerations. This dissertation discusses research aimed at understanding the role and function of empirical, computational, and theoretical granular physics approaches as they apply to helical geometries, their envelope of applicability, and the development of new laws. First, a static Archimedes screw submerged in granular material (glass beads) is analyzed using two methods: Granular Resistive Force Theory (RFT), an empirically derived set of equations based on fluid dynamic superposition principles, and Discrete element method (DEM) simulations, a particle modeling software. Dynamic experiments further confirm the computational method with multi-body dynamics (MBD)-DEM co-simulations. Granular Scaling Laws (GSL), a set of physics relationships based on non-dimensional analysis, are utilized for the gravity-modified environments. A testing chamber to contain a lunar analogue, BP-1, is developed and built. An investigation of straight and helical grousered wheels in both silica sand and BP-1 is performed to examine general GSL applicability for lunar purposes. Mechanical power draw and velocity prediction by GSL show non-trivial but predictable deviation. BP-1 properties are characterized and applied to an MBD-DEM environment for the first time. MBD-DEM simulation results between Earth gravity and lunar gravity show good agreement with theoretical predictions for both power and velocity. The experimental deviation is further investigated and found to have a mass-dependant component driven by granular sinkage and engagement. Finally, a robust set of helical granular scaling laws (HGSL) are derived. The granular dynamics scaling of three-dimensional screw-driven mobility is reduced to a similar theory as wheeled scaling laws, provided the screw is radially continuous. The new laws are validated in BP-1 with results showing very close agreement to predictions. A gravity-variant version of these laws is validated with MBD-DEM simulations. The results of the dissertation suggest GSL, HGSL, and MBD-DEM give reasonable approximations for use in lunar environments to predict rover mobility given adequate granular engagement.
ContributorsThoesen, Andrew Lawrence (Author) / Marvi, Hamidreza (Thesis advisor) / Berman, Spring (Committee member) / Emady, Heather (Committee member) / Lee, Hyunglae (Committee member) / Klesh, Andrew (Committee member) / Arizona State University (Publisher)
Created2019
Description
With the revolution of low-cost microelectronics, rotary-wing vehicles have grown increasingly popular and important in the past two decades. With increased interest in quadcopters comes the need to for a systematic and rigorous framework to model, analyze, control, and design them. This thesis presents the beginning of such a framework.
The work presents the nonlinear equations of motion of a quadcopter. This includes the translational and rotational equations of motion, as well as an analysis of the nonlinear actuator dynamics. The work then analyzes the static properties of a quadcopter in forward flight equilibrium and shows how static properties change as physical properties of the vehicle are varied. Next, the dynamics of forward flight are linearized, and a dynamic analysis is provided.
After dynamic analysis, the work shows detailed hierarchical control system design trade studies, which includes attitude and translational inner-outer loop control. Among other designs, the following are presented: PD control, proportional control, pole-placement control. Each of these control architectures are employed for the inner loops and outer loops. The work also analyzes linear versus nonlinear simulation performance of a quadcopter, specifically for a step x-axis reference command. It is found that the nonlinear dynamics of the actuator cause significant discrepancy between linear and nonlinear simulation.
Finally, this thesis establishes directions for future graduate research. This includes hardware design, as well as moving toward design of a highly-maneuverable thrust-vectoring quadrotor which will be the focus of the proposed graduate PhD research. In summary, this thesis provides the beginning of a cohesive framework to model, analyze, control, and design quadcopters. It also lays the groundwork for graduate research and beyond.
The work presents the nonlinear equations of motion of a quadcopter. This includes the translational and rotational equations of motion, as well as an analysis of the nonlinear actuator dynamics. The work then analyzes the static properties of a quadcopter in forward flight equilibrium and shows how static properties change as physical properties of the vehicle are varied. Next, the dynamics of forward flight are linearized, and a dynamic analysis is provided.
After dynamic analysis, the work shows detailed hierarchical control system design trade studies, which includes attitude and translational inner-outer loop control. Among other designs, the following are presented: PD control, proportional control, pole-placement control. Each of these control architectures are employed for the inner loops and outer loops. The work also analyzes linear versus nonlinear simulation performance of a quadcopter, specifically for a step x-axis reference command. It is found that the nonlinear dynamics of the actuator cause significant discrepancy between linear and nonlinear simulation.
Finally, this thesis establishes directions for future graduate research. This includes hardware design, as well as moving toward design of a highly-maneuverable thrust-vectoring quadrotor which will be the focus of the proposed graduate PhD research. In summary, this thesis provides the beginning of a cohesive framework to model, analyze, control, and design quadcopters. It also lays the groundwork for graduate research and beyond.
ContributorsWallace, Brent (Author) / Rodriguez, Armando (Thesis director) / Berman, Spring (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-12