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dc.contributor.advisorPoursina, Mohammaden
dc.contributor.authorSabet, Sahand
dc.creatorSabet, Sahanden
dc.date.accessioned2016-09-27T18:55:29Z
dc.date.available2016-09-27T18:55:29Z
dc.date.issued2016
dc.identifier.urihttp://hdl.handle.net/10150/620728
dc.description.abstractMultibody dynamics plays the key role in the modeling, simulation, design, and control of many engineering problems. In practice, such problems may be encountered with the existence of uncertainty in the system's parameters and/or excitations. As the complexity of these problems in terms of the number of the bodies and kinematic loops (chains) increases, the effect of uncertainty in the system becomes even more significant due to the accumulation of inaccuracies. Therefore, considering uncertainty is inarguably a crucial aspect of performance analysis of a multibody problem. In fact, uncertainty needs to be propagated to the system kinematics and dynamics for the better understanding of the system behavior. This will significantly affect the design and control process of such systems. For this reason, this research presents a detailed investigation on the use of the Polynomial Chaos Expansion (PCE) method for both control and kinematic analysis of nondeterministic multibody systems.
dc.language.isoen_USen
dc.publisherThe University of Arizona.en
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en
dc.subjectKinematic Analysis of Nondeterministic Systemsen
dc.subjectMechanical Engineeringen
dc.subjectControl of Nondeterministic Systemsen
dc.titleKinematic Analysis and Inverse Dynamics-based Control of Nondeterministic Multibody Systemsen_US
dc.typetexten
dc.typeElectronic Thesisen
thesis.degree.grantorUniversity of Arizonaen
thesis.degree.levelmastersen
dc.contributor.committeememberNikravesh, Parviz E.en
dc.contributor.committeememberGaylor, Daviden
thesis.degree.disciplineGraduate Collegeen
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.nameM.S.en
refterms.dateFOA2018-09-11T14:56:02Z
html.description.abstractMultibody dynamics plays the key role in the modeling, simulation, design, and control of many engineering problems. In practice, such problems may be encountered with the existence of uncertainty in the system's parameters and/or excitations. As the complexity of these problems in terms of the number of the bodies and kinematic loops (chains) increases, the effect of uncertainty in the system becomes even more significant due to the accumulation of inaccuracies. Therefore, considering uncertainty is inarguably a crucial aspect of performance analysis of a multibody problem. In fact, uncertainty needs to be propagated to the system kinematics and dynamics for the better understanding of the system behavior. This will significantly affect the design and control process of such systems. For this reason, this research presents a detailed investigation on the use of the Polynomial Chaos Expansion (PCE) method for both control and kinematic analysis of nondeterministic multibody systems.


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