rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Application of product design concepts and hybrid system dynamics to demonstrate zeno behavior and zeno periodic orbits in a physical double pendulum setup
  name:
    name part: Kothapalli, Bhargav.
    role:
      role term: creator
  name:
    name part: McAdams, Daniel A.
    role:
      role term: thesis advisor.
  name:
    name part: Ames, Aaron D.
    role:
      role term: thesis advisor.
  type of resource: text
  genre: bibliography
  origin info:
    place:
      place term: txu
    date issued: 2012
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: remote
    extent: 1 online resource.
  abstract: This thesis aims to explain how the concepts of functional modeling are implemented in the development and validation of real-world hybrid dynamic systems. I also discuss how control theory is integrated with the design process in order to understand the significance of periodic orbits on a simple dynamic system. Two hybrid system applications with different levels of complexity will be considered in this thesis - an anthropomorphic Bipedal walking robot and a Double Pendulum with a mechanical stop. The primary objectives of this project are to demonstrate the phenomena of Zeno and zeno periodic orbits in hybrid dynamic systems involving impacts. Initially, I describe the salient features of the product design procedure and then explain the significance of functional modeling as a part of this process. We then discuss hybrid dynamic systems and the occurrence of Zeno behavior in their mathematical form. Also, the necessary conditions for existence of Zeno and zeno equilibrium points are provided. Then the theory of completed Lagrangian hybrid systems is explained in detail. We then examine the two hybrid dynamic systems being considered for this project. Prior research undertaken on bipedal walking is explored to understand their design and achievement of stable walking gaits with appropriate actuation mechanisms. Based on this insight, a suitable design procedure is employed to develop the bipedal robot model. The desired actuation mechanisms for all the configurations considered for this model as well as the challenges faced in employing optimal actuation will be discussed. However, due to the high level of complexity of the bipedal robot model, a simpler hybrid dynamic system is considered to simplify fabrication and control of the model. This is the motivation behind designing and building the Double Pendulum model with a mechanical stop in an attempt to observe zeno behavior in this system. We begin by formally demonstrating that the "constrained" double pendul…
  note: by Bhargav Kothapalli.
  note: "Major Subject: Mechanical Engineering"
  note: Electronic resource.
  note: Master of Science Texas A&M University 2011 http://hdl.handle.net/1969.1/ETD-TAMU-2011-05-9380
  note: Includes bibliographical references.
  note: Text (Thesis)
  subject:
    topic: Major Mechanical Engineering
  subject:
    topic: Double Pendulum
  subject:
    topic: Product design
  subject:
    topic: Bipedal robot
  subject:
    topic: Hybrid system dynamics
  subject:
    topic: Zeno behavior
  identifier: http://hdl.handle.net/1969.1/ETD-TAMU-2011-05-9380
  record info:
    record content source: TXA
    record creation date: 120810
    record change date: 20150922110834.0
    record identifier: in00002780464