Sharif Digital Repository

In this paper, a robotic manipulator modelled as a cantilever rotating Euler-Bernoulli beam is considered. Control objective is achieving a desired angular rotation of the manipulator tip while its lateral vibration is suppressed. An external driving torque is the control input of the system. Two dynamic transfer functions are derived to describe beam tip motion and angular rotation in terms of the desired angular rotation. After state-space representation of the problem, an observer is designed to estimate state variables of the system. Then, a feedback control is designed for both regulation and tracking objectives. Eigenvalues are chosen such that an appropriate response is achieved while... 

In the present study, two preconditioners proposed by Eriksson, and Choi and Merkel are implemented on a 3D upwind Euler flow solver on unstructured meshes. The mathematical formulations of these preconditioning schemes for the set of primitive variables Q→p 1=[ρ u v , w p] T are drawn and their eigenvalues and eigenvectors are compared with each others. A cell-centered finite volume Roe's method is used for discretization of the 3D preconditioned Euler equations. The accuracy and performance of these preconditioning schemes are examined by computing low Mach number flows over the ONERA M6 wing for different conditions  

The present work aims at developing a boundary element method to determine the natural frequencies and mode shapes of liquid sloshing in 3D baffled tanks with arbitrary geometries. Green's theorem is used with the governing equation of potential flow and the walls and free surface boundary conditions are applied. A zoning method is introduced to model arbitrary arrangements of baffles. By discretizing the flow boundaries to quadrilateral elements, the boundary integral equation is formulated into a general matrix eigenvalue problem. The governing equations are then reduced to a more efficient form that is merely represented in terms of the potential values of the free surface nodes, which...