Matching Items (21)
Description
This investigation develops small-size reduced order models (ROMs) that provide an accurate prediction of the response of only part of a structure, referred to as component-centric ROMs. Four strategies to construct such ROMs are presented, the first two of which are based on the Craig-Bampton Method and start with a set of modes for the component of interest (the β component). The response in the rest of the structure (the α component) induced by these modes is then determined and optimally represented by applying a Proper Orthogonal Decomposition strategy using Singular Value Decomposition. These first two methods are effectively basis reductions techniques of the CB basis. An approach based on the “Global - Local” Method generates the “global” modes by “averaging” the mass property over α and β comp., respectively (to extract a “coarse” model of α and β) and the “local” modes orthogonal to the “global” modes to add back necessary “information” for β. The last approach adopts as basis for the entire structure its linear modes which are dominant in the β component response. Then, the contributions of other modes in this part of the structure are approximated in terms of those of the dominant modes with close natural frequencies and similar mode shapes in the β component. In this manner, the non-dominant modal contributions are “lumped” onto the dominant ones, to reduce the number of modes for a prescribed accuracy. The four approaches are critically assessed on the structural finite element model of a 9-bay panel with the modal lumping-based method leading to the smallest sized ROMs. Therefore, it is extended to the nonlinear geometric situation and first recast as a rotation of the modal basis to achieve unobservable modes. In the linear case, these modes completely disappear from the formulation owing to orthogonality. In the nonlinear case, however, the generalized coordinates of these modes are still present in the nonlinear terms of the observable modes. A closure-type algorithm is then proposed to eliminate the unobserved generalized coordinates. This approach, its accuracy and computational savings, was demonstrated on a simple beam model and the 9-bay panel model.
ContributorsWang, Yuting (Author) / Mignolet, Marc P (Thesis advisor) / Jiang, Hanqing (Committee member) / Liu, Yongming (Committee member) / Oswald, Jay (Committee member) / Rajan, Subramaniam D. (Committee member) / Spottswood, Stephen M (Committee member) / Arizona State University (Publisher)
Created2017
Description
Motor-respiratory coordination is the synchronization of movement and breathing during exercise. The relation between movement and breathing can be described using relative phase, a measure of the location in the movement cycle relative to the location in the breathing cycle. Stability in that relative phase relation has been identified as important for aerobic efficiency. However, performance can be overly attracted to stable relative phases, preventing the performance or learning of more complex patterns. Little research exists on relative phase dynamics in motor-respiratory coordination, although those observations underscore the importance of learning more. In contrast, there is an extensive literature on relative phase dynamics in interlimb coordination. The accuracy and stability of different relative phases, transitions between patterns, and asymmetries between components are well understood. Theoretically, motor-respiratory and interlimb coordination may share dynamical properties that operate in their different physiological substrates. An existing model of relative phase dynamics in interlimb coordination, the Haken, Kelso, Bunz model, was used to gain an understanding of relative phase dynamics in the less-researched motor-respiratory coordination. Experiments 1 and 2 were designed to examine the interaction of frequency asymmetries between movement and breathing with relative phase and frequency, respectively. In Experiment 3, relative phase stability and transitions in motor-respiratory coordination were explored. Perceptual constraints on differences in stability were investigated in Experiment 4. Across experiments, contributions relevant to questions of coordinative variability were made using a dynamical method called cross recurrence quantification analysis. Results showed much consistency with predictions from an asymmetric extension of the Haken, Kelso, Bunz model and theoretical interpretation in the interlimb coordination literature, including phase wandering, intermittency, and an interdependence of perception and action. There were, however, notable exceptions that indicated stability can decrease with more natural frequency asymmetries and the connection of cross recurrence measures to categories of variability needs further clarification. The complex relative phase dynamics displayed in this study suggest that movement and breathing are softly-assembled by functional constraints and indicate that motor-respiratory coordination is a self-organized system.
ContributorsHessler, Eric Edward (Author) / Amazeen, Polemnia G (Thesis advisor) / Amazeen, Eric L (Committee member) / Glenberg, Arthur M. (Committee member) / Gray, Rob (Committee member) / Arizona State University (Publisher)
Created2010
Description
This thesis explores the potential for software to act as an educational experience for engineers who are learning system dynamics and controls. The specific focus is a spring-mass-damper system. First, a brief introduction of the spring-mass-damper system is given, followed by a review of the background and prior work concerning this topic. Then, the methodology and main approaches of the system are explained, as well as a more technical overview of the program. Lastly, a conclusion and discussion of potential future work is covered. The project was found to be useful by several engineers who tested it. While there is still plenty of functionality to add, it is a promising first attempt at teaching engineers through software development.
ContributorsRobbins, Alexander Kalani (Author) / Kobayashi, Yoshihiro (Thesis director) / Benson, David (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
A dynamical approach is used to avoid isolating systems and instead view systems as interacting together. The current study applied a dynamical approach to heart rate variability and personality. There were two main research questions that this study sought to answer with a dynamical analysis of heart rate variability and personality: “Can we listen to a heartbeat and draw connections to behavior and personality?” and “Is dynamical analysis more effective than traditional analysis at finding correlations between heart rate variability and personality?” To answer these questions a dynamical analysis of heart rate variability was conducted (detrended fluctuation analysis; DFA) along with traditional analysis (standard deviations of NN intervals, SDNN, and root mean squared of successive deviations, RMSSD) and then correlations between heart rate variability measures and personality traits from the Big Five Inventory, Positive and Negative Affect schedule, and State-Trait Anxiety Inventory were examined. Data for this study came from the Rapid Automatic & Adaptive Model for Performance Prediction (RAAMP2) Dataset that was part of The Multimodal Objective Sensing to Assess Individuals with Context (MOSAIC) project. There were no statistically significant correlations between heart rate variability and personality. However, there were notable correlations between extraversion and SDNN and RMSSD and between positive affect and SDNN and RMSSD. We found that SDNN and RMSSD were more closely correlated to each other compared to DFA to either measure. This suggests that DFA can provide information that SDNN and RMSSD do not. Future research can explore dynamic analysis of heart rate variability and other nested systems.
ContributorsBrown, Brent (Author) / Amazeen, Polemnia (Thesis director) / Corbin, William (Committee member) / Amazeen, Eric (Committee member) / Danvers, Alexander (Committee member) / Barrett, The Honors College (Contributor) / Department of Psychology (Contributor)
Created2021-12
Description
The ability for aerial manipulators to stay aloft while interacting with dynamic environments is critical for successfully in situ data acquisition methods in arboreal environments. One widely used platform utilizes a six degree of freedom manipulator attached to quadcoper or octocopter, to sample a tree leaf by maintaining the system in a hover while the arm pulls the leaf for a sample. Other system are comprised of simpler quadcopter with a fixed mechanical device to physically cut the leaf while the system is manually piloted. Neither of these common methods account or compensate for the variation of inherent dynamics occurring in the arboreal-aerial manipulator interaction effects. This research proposes force and velocity feedback methods to control an aerial manipulation platform while allowing waypoint navigation within the work space to take place. Using these methods requires minimal knowledge of the system and the dynamic parameters. This thesis outlines the Robot Operating System (ROS) based Open Autonomous Air Vehicle (OpenUAV) simulations performed on the purposed three degree of freedom redundant aerial manipulation platform.
ContributorsCohen, Daniel (Author) / Das, Jnaneshwar (Thesis advisor) / Marvi, Hamidreza (Committee member) / Saldaña, David (Committee member) / Arizona State University (Publisher)
Created2022
Description
This document is the culmination of research into small unmanned Powered Parachute aerial vehicles. This dissertation serves to provide designers of small systems with an approach to developing a Powered Parachute Unmanned Aerial Vehicle system, guiding them through the basic assumptions, dynamics, and control method. In addition, this dissertation aims to generate a reliable and generalized framework of dynamic design and control methods for autonomous Powered Parachute aircraft. The simulation methods in this paper assist in developing a consistent and robust unmanned system for applying Powered Parachutes as an alternative to multirotor or fixed-wing aircraft.The first chapter serves as a primer on the historical applications of small Unmanned Systems and Powered Parachutes and gives an overview of the requirements for building an autonomous Powered Parachutes; the information within this chapter provides justification background for the second chapter on Powered Parachute dynamics. In the dynamics chapter, equations of motion are derived using engineering first principles. This chapter also discusses alternative methods of improving the control and robustness of the Powered Parachute airframe. The dynamics model is used in all further chapters to develop a generalized control system to operate such a model autonomously. Chapter three of this document focuses on developing simulations from the dynamics described in the previous chapter, laying the groundwork for guidance, navigation, and control algorithms ahead. Chapters four and onwards refine the autonomous control of the Powered Parachute aircraft for real-world scenarios, discussing correction factors and minimizing the errors present in current sensor systems. Chapter five covers the development of an additional adaptive controller which uses a Sigma-Pi Neural network integrated into the final control loop. Chapter six develops advanced control methods for the Powered Parachute airframe, including simulations on a novel proposed thrust vectoring method. Finally, chapter seven discusses results accumulated from testing an experimental prototype.
ContributorsFiedler, Brett (Author) / Redkar, Sangram (Thesis advisor) / Sugar, Thomas (Committee member) / Phatak, Amar (Committee member) / Arizona State University (Publisher)
Created2022
Description
In recent years, the development of Control Barrier Functions (CBF) has allowed safety guarantees to be placed on nonlinear control affine systems. While powerful as a mathematical tool, CBF implementations on systems with high relative degree constraints can become too computationally intensive for real-time control. Such deployments typically rely on the analysis of a system's symbolic equations of motion, leading to large, platform-specific control programs that do not generalize well. To address this, a more generalized framework is needed. This thesis provides a formulation for second-order CBFs for rigid open kinematic chains. An algorithm for numerically computing the safe control input of a CBF is then introduced based on this formulation. It is shown that this algorithm can be used on a broad category of systems, with specific examples shown for convoy platooning, drone obstacle avoidance, and robotic arms with large degrees of freedom. These examples show up to three-times performance improvements in computation time as well as 2-3 orders of magnitude in the reduction in program size.
ContributorsPietz, Daniel Johannes (Author) / Fainekos, Georgios (Thesis advisor) / Vrudhula, Sarma (Thesis advisor) / Pedrielli, Giulia (Committee member) / Pavlic, Theodore (Committee member) / Arizona State University (Publisher)
Created2022
Description
The field of prostheses and rehabilitation devices has seen tremendous advancement since the ’90s. However, the control aspect of the said devices is lacking. The need for mathematical theories to improve the control strategies is apparent. This thesis attempts to bridge the gap by introducing some dynamic system analysis and control strategies.Firstly, the human gait dynamics are assumed to be periodic. Lyapunov Floquet theory and Invariant manifold theory are applied. A transformation is obtained onto a simple single degree of freedom oscillator system. The said system is transformed back into the original domain and compared to the original system. The results are discussed and critiqued. Then the technique is applied to the kinematic and kinetic data collected from healthy human subjects to verify the technique’s feasibility. The results show that the technique successfully reconstructed the kinematic and kinetic data.
Human gait dynamics are not purely periodic, so a quasi-periodic approach is adopted. Techniques to reduce the order of a quasi-periodic system are studied. Lyapunov-Peron transformation (a surrogate of Lyapunov Floquet transformation for quasi-periodic systems) is studied. The transformed system is easier to control. The inverse of the said transformation is obtained to transform back to the original domain. The application of the techniques to different cases (including externally forced systems) is studied.
The reduction of metabolic cost is presented as a viable goal for applying the previously studied control techniques. An experimental protocol is designed and executed to understand periodic assistive forces' effects on human walking gait. Different tether stiffnesses are used to determine the best stiffness for a given subject population. An estimation technique is introduced to obtain the metabolic cost using the center of mass's kinematic data.
Lastly, it is concluded that the mathematical techniques can be utilized in a robotic tail-like rehabilitation device. Some possible future research ideas are provided to implement the techniques mentioned in this dissertation.
ContributorsBhat, Sandesh Ganapati (Author) / Redkar, Sangram (Thesis advisor) / Sugar, Thomas G (Committee member) / Rogers, Bradley (Committee member) / Arizona State University (Publisher)
Created2021
Description
This project examines the dynamics and design of control systems for a rocket in propulsive ascent and descent using a simplified model with motion constrained to a vertical plane. The governing differential equations are analyzed. They are then linearized, after which transfer functions are derived relating controllable input variables to controlled output variables. The effect of changes in various parameters as well as other aspects of the system are examined. Methods for controller design based on the derived transfer functions are discussed. This will include the discussion of control of the final descent and landing of the rocket. Lastly, there is a brief discussion about both the successes and limitations of the model analyzed.
ContributorsWarner, Adin (Author) / Rodriguez, Armando (Thesis director) / Shafique, Ashfaque (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2021-12
Description
The dynamics of friction as they relate to automobile behavior have been heavily analyzed under conditions that are favorable and predictable in the realm of daily driving. The scope of this project is to investigate behavior of slip in unfavorable conditions and develop a mathematical solution that allows users to predict behavior of oversteer and excessive sideslip. I am fascinated by the topic as I have developed a background in the sport of drifting (controlled oversteer) and would like to contribute to the understanding of this lesser appreciated science. Highly valued components of the project such as velocities, forces, coefficients of friction, steering angles, slip angles, and multi-wheel analysis will all lead to a deeper understanding of relationships between aspects of a vehicle undergoing oversteer.
ContributorsRoden, Michael Joseph (Author) / Takahashi, Timothy (Thesis director) / Murthy, Raghavendra (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-12