Contents

Preface

Chapter 1

An Extensive Study on Design

of Experiment Methods

Chapter 2

Traditional Controller Design for Two-Link Flexible Robotic Manipulator

1Department of Mechanical Engineering Science,

University of Johannesburg, Auckland Park Campus,

Johannesburg, South Africa

2Department of Mechanical Engineering, University of Ilorin, Nigeria

Abstract

1. Introduction

2. Proportional Derivative (PD) - Proportional Integral Derivative (PID) Controller Design

2.1. Collocated Proportional Derivative (PD) Controller Design

2.2. Non-Collocated Proportional Integral Derivative (PID) Controller Design

2.3. Gain Tuning and Simulation

2.3.1. Stage 1 PD Gains Tuning

2.3.2. Stage 2 PID Gains Tuning

3. Iterative Learning Control (ILC) Based on PD-PID Controller Design

3.1. Iterative Learning Control (ILC) Algorithm

3.2. PD-PID-ILC Control Structure

4. Summary and the Future Work

Acknowledgment

References

Biographical Sketch

Chapter 3

Active Vibration Control System for Trailed Two-Wheeled Implements

Abstract

1. Introduction

2. Dynamic Modeling

2.1. TTWI System

2.2. Hydraulically Actuated System

3. Controller Design

3.1. Design of Vibration Controller

3.1.1. Adaptive Control Scheme

3.1.2. Skyhook Control Scheme

3.2. Design of Force Tracking Controller

4. Implementation of Active Control System

4.1. Simulation Work

4.2. Experimental Work

Conclusion

References

Chapter 4

Kinematics of a Series-Parallel

Manipulator with Constrained

Rotations by Means of the Theory of Screws

Chapter 5

Estimation of Saturated Hydraulic Conductivity: A Review

Abstract

1. Introduction

2. Hydraulic Conductivity

3. Laboratory Methods

3.1. Constant Head Method

3.2. Falling Head Method

4. Hydraulic Fields Methods-Below Water Table

4.1. Auger Hole Method

a. Ernst’s Method

b. Hooghoudt’s Method

c. Ernst’s Method Layered Soil

4.2. Piezometer Method

5. Hydraulic Fields Methods- Above Water Table

5.1. Inverse Auger hole Method

5.2. Shallow Well Pump in Test Method

5.3. Guelph Permeameter Method

Conclusion

References

Chapter 6

Cellular Automata Based Liquids Diffusion Phenomena Model Using Environmental and Physical Parameters and Conditions

Abstract

Introduction

Related Work

The Proposed CA-Based LDP Model

A. Overview

B. The Proposed CA-Based LDP Model Schematic Representation

C. VCP

D. TDBA

E. CALDPP

F. CAA

G. URA

H. Benchmark Strategies

Experimental Results and Discussion

A. Experimental Preparation

B. The Real Diffusion Scenario Analysis

C. The Proposed Model vs. the Real Scenario

D. The Proposed Model vs. NN-Based LDP Model

E. Computation Time

Conclusion

References

Biographical Sketches

Index

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