Adaptive tackling of the swinging problem for a 2 DOF crane – payload system

The control of a crane carrying its payload by an elastic string corresponds to a task in which precise, indirect control of a subsystem dynamically coupled to a directly controllable subsystem is needed. This task is interesting since the coupled degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed to simultaneously tackle the problems originating from the imprecise dynamic model available for the system to be controlled and the swinging problem, too. The most important phenomenological properties of this approach are also discussed. The control considers the 4th time-derivative of the trajectory of the payload. The operation of the proposed control is illustrated via simulation results.

Análise e implementação digital de uma malha de captura de fase para sincronização de conversores à rede elétrica

Dissertação para a obtenção do grau de Mestre em Engenharia Electrotécnica Ramo de Automação e Eletrónica Industrial

Análise do comportamento sísmico da barragem de Luzzone: desenvolvimento de um programa de EF3D utilizando uma formulação em deslocamentos e pressões

Trabalho Final de Mestrado elaborado no Laboratório Nacional de Engenharia Civil (LNEC) para a obtenção do grau de Mestre em Engenharia Civil pelo Instituto Superior de Engenharia de Lisboa no âmbito do protocolo entre o ISEL e o LNEC

Modelação do comportamento dinâmico de sistemas barragem-fundação-albufeira: análise sísmica de uma barragem de abóbadas múltiplas

Trabalho Final de Mestrado elaborado no Laboratório Nacional de Engenharia Civil (LNEC) para a obtenção do grau de Mestre em Engenharia Civil pelo Instituto Superior de Engenharia de Lisboa no âmbito do protocolo de cooperação entre o ISEL e o LNEC

Análise do comportamento dinâmico de uma plataforma sísmica e de um pórtico em betão armado e a sua evolução com o dano acumulado

Trabalho de Dissertação de Natureza Científica para obtenção do grau de Mestre em Engenharia Civil na Área de Especialização em Estruturas

Transverse Vibrations in Beams Supported by a Piece-Wise Homogeneous Visco- Elastic Foundation

Transversal vibrations induced by a load moving uniformly along an infinite beam resting on a piece-wise homogeneous visco-elastic foundation are studied. Special attention is paid to the additional vibrations, conventionally referred to as transition radiations, which arise as the point load traverses the place of foundation discontinuity. The governing equations of the problem are solved by the normalmode analysis. The solution is expressed in a form of infinite sum of orthogonal natural modes multiplied by the generalized coordinate of displacement. The natural frequencies are obtained numerically exploiting the concept of the global dynamic stiffness matrix. This ensures that the frequencies obtained are exact. The methodology has restrictions neither on velocity nor on damping. The approach looks simple, though, the numerical expression of the results is not straightforward. A general procedure for numerical implementation is presented and verified. To illustrate the utility of the methodology parametric optimization is presented and influence of the load mass is studied. The results obtained have direct application in analysis of railway track vibrations induced by high-speed trains when passing regions with significantly different foundation stiffness.

Generalization of the BTK Theory to the Case of Finite Quasiparticle Lifetimes

A generalization to the BTK theory is developed based on the fact that the quasiparticle lifetime is finite as a result of the damping caused by the interactions. For this purpose, appropriate self-energy expressions and wave functions are inserted into the strong coupling version of the Bogoliubov equations and subsequently, the coherence factors are computed. By applying the suitable boundary conditions to the case of a normal-superconducting interface, the probability current densities for the Andreev reflection, the normal reflection, the transmission without branch crossing and the transmission with branch crossing are determined. Accordingly the electric current and the differential conductance curves are calculated numerically for Nb, Pb, and Pb0.9Bi0.1 alloy. The generalization of the BTK theory by including the phenomenological damping parameter is critically examined. The observed differences between our approach and the phenomenological approach are investigated by the numerical analysis.

Développement et caractérisation de sources de neutres réactifs pour l’étude des interactions plasmas-surfaces

L’objectif de ce mémoire de maîtrise est de développer et de caractériser diverses sources de neutres réactifs destinées à des études fondamentales des interactions plasmas-surfaces. Ce projet s’inscrit dans le cadre d’une vaste étude de la physique des interactions plasmas-parois mises en jeu dans les procédés de gravure par plasma des matériaux de pointe. Une revue de la littérature scientifique sur les diverses méthodes permettant de générer des faisceaux de neutres réactifs nous a permis de sélectionner deux types de sources. La première, une source pyrolitique, a été caractérisée par spectrométrie de masse en utilisant le C2F6 comme molécule mère. Nous avons montré que le C2F6 était dissocié à plus de 90% à 1000ºC et qu’il formait du CF4, lui-même dissocié en CF2 vers 900ºC. Ces résultats ont été validés à l’aide d’un modèle basé sur des calculs d’équilibres chimiques, qui a aussi prédit la formation de F à 1500ºC. La seconde source, un plasma entretenu par une onde électromagnétique de surfaces, a été caractérisée par spectroscopie optique d’émission et par interférométrie haute fréquence. Dans le cas du plasma d’argon créé par un champ électromagnétique (>GHz), nos travaux ont révélé une distribution en énergie des électrons à trois températures avec Te-low>Te-high

Greffage irréversible de polyélectrolytes sur des substrats de silice et de mica et étude des propriétés de surface et de gonflement

Le protocole pour le greffage irréversible du copolymère amphiphile polystyrène-b-poly (acrylate de sodium) PS-b-PANa, sur un substrat de mica et de silice hydrophobe a été développé, en utilisant la méthode de greffage à partir de solution. Les propriétés de surface du bloc chargé ont été évaluées. L’effet de la force ionique sur le gonflement des chaînes a été investigué par ellipsométrie. Les forces d’interaction entre les surfaces recouvertes du copolymère ont été évaluées par la technique SFA. Les profils de force ont démontré être stables et nettement répulsifs en compression et décompression, montrant l’irréversibilité du greffage. Les forces de frottement entre les brosses de PANa sont élevées, mais aucune évidence d’endommagement de la surface n’a été observée. La comparaison entre le comportement à la surface des chaînes de l’acide polyacrylique PAA et celles du PANa, obtenues par deux méthodes de greffage différentes, est également investiguée.

Short Isora Fibre Reinforced Natural Rubber Composites

The present study deals with the short isora fibre reinforced natural rubber composites. In recent years there has been a tremendous advancement in the field of science and technology of short fibre reinforced polymer composites. The low density, high strength, high stiffness to weight ratio, excellent durability and design flexibility are the primary reasons for their use in many diversified fields such as air crafts, automobiles, marine industry etc. Compared to the various natural and synthetic fibres used as reinforcement for elastomer composites isora fibre is superior in many aspects. `Isora' is a natural lignocellulosic fibre which is easily available in South India especially in Kerala. The fibre is separated from the bark of the Helicteres isora plant by retting process. This fibre has excellent mechanical properties and is easily amenable to physical and chemical modifications. The study shows that composites with poor interfacial bonding tend to dissipate more energy than that with to interfacial bonding. The mechanical loss also can be related to interfacial bonding. The effect of chemical treatment of isora fibre on damping was also studied. Both in the low and high temperature region which indicates that this composite posseses low damping and hence good interfacial bonding characteristics. Hence these composites are better candidates for high damping applications. Composites with longitudinally oriented fibres showed high storage modulus than transversely oriented ones due to the effective stress transfer between fibre and matrix.

Studies on Fluxon Dynamics in Coupled Josephson Junctions

The thesis deals with detailed theoretical analysis of fluxon dynamics in single and in coupled Josephson junctions of different geometries under various internal and external conditions. The main objective of the present work is to investigate the properties of narrow Long Josephson junctions (LJJs) and to discuss the intriguing physics. In this thesis, Josephson junctions of three types of geometries, viz, rectangular, semiannular and quarter annular geometries in single and coupled format are studied to implement various fluxon based devices. Studies presented in this thesis reveal that mulistacked junctions are extremely useful in the fabrication of various super conducting electronic devices. The stability of the dynamical mode and therefore the operational stability of the proposed devices depend on parameters such as coupling strength, external magnetic fields, damping parameters etc. Stacked junctions offer a promising way to construct high-TC superconducting electronic components. Exploring the complex dynamics of fluxons in coupled junctions is a challenging and important task for the future experimental and theoretical investigations

STUDIES ON SCATTERING AND QUASI-NORMAL MODES IN BLACK HOLE SPACE-TIMES

The question of stability of black hole was first studied by Regge and Wheeler who investigated linear perturbations of the exterior Schwarzschild spacetime. Further work on this problem led to the study of quasi-normal modes which is believed as a characteristic sound of black holes. Quasi-normal modes (QNMs) describe the damped oscillations under perturbations in the surrounding geometry of a black hole with frequencies and damping times of oscillations entirely fixed by the black hole parameters.In the present work we study the influence of cosmic string on the QNMs of various black hole background spacetimes which are perturbed by a massless Dirac field.

Dynamic mechanical analysis of binary and ternary polymer blends based on nylon copolymer/EPDM rubber and EPM grafted maleic anhydride compatibilizer

The dynamic mechanical properties such as storage modulus, loss modulus and damping properties of blends of nylon copolymer (PA6,66) with ethylene propylene diene (EPDM) rubber was investigated with special reference to the effect of blend ratio and compatibilisation over a temperature range –100°C to 150°C at different frequencies. The effect of change in the composition of the polymer blends on tanδ was studied to understand the extent of polymer miscibility and damping characteristics. The loss tangent curve of the blends exhibited two transition peaks, corresponding to the glass transition temperature (Tg) of individual components indicating incompatibility of the blend systems. The morphology of the blends has been examined by using scanning electron microscopy. The Arrhenius relationship was used to calculate the activation energy for the glass transition of the blends. Finally, attempts have been made to compare the experimental data with theoretical models.

The quantum effects in quadratically damped systems

A dynamical system with a damping that is quadratic in velocity is converted into the Hamiltonian format using a nonlinear transformation. Its quantum mechanical behaviour is then analysed by invoking the Gaussian effective potential technique. The method is worked out explicitly for the Duffing oscillator potential.

Utilisation of Coir Geotextiles for Unpaved Roads and Embankments

The increasing tempo of construction activity the world over creates heavy pressure on existing land space. The quest for new and competent site often points to the needs for improving existing sites, which are otherwise deemed unsuitable for adopting conventional foundations. This is accomplished by ground improvement methods, which are employed to improve the quality of soil incompetent in their natural state. Among the construction activities, a well-connected road network is one of the basic infrastructure requirements, which play a vital role for the fast and comfortable movement of inter- regional traffic in countries like India.One of the innovative ground improvement techniques practised all over the world is the use of geosynthetics, which include geotextiles, geomembranes, geogrids, etc . They offer the advantages such as space saving, enviromnental sensitivity, material availability, technical superiority, higher cost savings, less construction time, etc . Because of its fundamental properties, such as tensile strength, filtering and water permeability, a geotextile inserted between the base material and sub grade can function as reinforcement, a filter medium, a separation layer and as a drainage medium. Though polymeric geotextiles are used in abundant quantities, the use of natural geotextiles (like coir, jute, etc.) has yet to get momentum. This is primarily due to the lack of research work on natural geotextilcs for ground improvement, particularly in the areas of un paved roads. Coir geotextiles are best suited for low cost applications because of its availability at low prices compared to its synthetic counterparts. The proper utilisation of coir geotextilcs in various applications demands large quantities of the product, which in turn can create a boom in the coir industry. The present study aims at exploring the possibilities of utilising coir geotextiles for unpaved roads and embankments.The properties of coir geotextiles used have been evaluated. The properties studied include mass per unit area, puncture resistance, tensile strength, secant modulus, etc . The interfacial friction between soils and three types of coir geotextiles used was also evaluated. It was found that though the parameters evaluated for coir geotextiles have low values compared to polymeric geotextiles, the former are sufficient for use in unpaved roads and embankments. The frictional characteristics of coir geotextile - soil interfaces are extremely good and satisfy the condition set by the International Geosynthetic Society for varied applications.The performance of coir geotextiles reinforced subgrade was studied by conducting California Bearing Ratio (CBR) tests. Studies were made with coir geotextiles placed at different levels and also in multiple layers. The results have shown that the coir geotextile enhances the subgrade strength. A regression analysis was perfonned and a mathematical model was developed to predict the CBR of the coir geotextile reinforced subgrade soil as a function of the soil properties, coir geotextile properties, and placement depth of reinforcement.The effects of coir geotextiles on bearing capacity were studied by perfonning plate load tests in a test tan1e This helped to understand the functioning of geotextile as reinforcement in unpaved roads and embankments. The perfonnance of different types of coir geotextiles with respect to the placement depth in dry and saturated conditions was studied. The results revealed that the bearing capacity of coir-reinforced soil is increasing irrespective of the type of coir geotextiles and saturation condition.The rut behaviour of unreinforced and coir reinforced unpaved road sections were compared by conducting model static load tests in a test tank and also under repetitive loads in a wheel track test facility. The results showed that coir geotextiles could fulfill the functions as reinforcement and as a separator, both under static and repetitive loads. The rut depth was very much reduced whik placing coir geotextiles in between sub grade and sub base.In order to study the use of Coir geotextiles in improving the settlement characteristics, two types of prefabricated COlf geotextile vertical drains were developed and their time - settlement behaviour were studied. Three different dispositions were tried. It was found that the coir geotextile drains were very effective in reducing consolidation time due to radial drainage. The circular drains in triangular disposition gave maximum beneficial effect.In long run, the degradation of coir geotextile is expected, which results in a soil - fibre matrix. Hence, studies pertaining to strength and compressibility characteristics of soil - coir fibre composites were conducted. Experiments were done using coir fibres having different aspect ratios and in different proportions. The results revealed that the strength of the soil was increased by 150% to 200% when mixed with 2% of fibre having approximately 12mm length, at all compaction conditions. Also, the coefficient of consolidation increased and compression index decreased with the addition of coir fibre.Typical design charts were prepared for the design of coir geotextile reinforced unpaved roads. Some illustrative examples are also given. The results demonstrated that a considerable saving in subase / base thickness can he achieved with the use of eoir geotextiles, which in turn, would save large quantities of natural aggregates.