scholarly journals Physical Interpretation of Rigidity for Bearing Formations: Application to Mobility and Singularity Analyses

2019 ◽  
Vol 11 (3) ◽  
Author(s):  
Sébastien Briot ◽  
Paolo Robuffo Giordano
Keyword(s):  
Physical Interpretation ◽  
Formation Control ◽  
Mechanical Engineering ◽  
Screw Theory ◽  
Spatial Arrangement ◽  
Cooperative Localization ◽  
Rigidity Matrix ◽  
Engineering Community ◽  
Localization Algorithms ◽  
The Impact

Research on formation control and cooperative localization for multirobot systems has been an active field over the last years. A powerful theoretical framework for addressing formation control and localization, especially when exploiting onboard sensing, is that of formation rigidity (mainly studied for the cases of distance and bearing measurements). Rigidity of a formation depends not only on the topology of the sensing/communication graph but also on the spatial arrangement of the robots, since special configurations (“singularities” of the rigidity matrix), which are hard to detect in general, can cause a rigidity loss and prevent convergence of formation control/localization algorithms based on formation rigidity. The aim of this paper is to gain additional insights into the internal structure of bearing rigid formations by considering an alternative characterization of formation rigidity using tools borrowed from the mechanical engineering community. In particular, we show that bearing rigid graphs can be given a physical interpretation related to virtual mechanisms, whose mobility and singularities can be analyzed and detected in an analytical way by using tools from the mechanical engineering community (screw theory, Grassmann geometry, and Grassmann-Cayley algebra). These tools offer a powerful alternative to the evaluation of the mobility and singularities typically obtained by numerically determining the spectral properties of the bearing rigidity matrix (which typically prevents drawing general conclusions). We apply the proposed machinery to several case formations with different degrees of actuation and discuss known (and unknown) singularity cases for representative formations. The impact on the localization problem is also discussed.

scholarly journals Design Integrated in the Mechanical Engineering Curriculum: Assessment of the Engineering Clinics

2007 ◽  
Vol 129 (7) ◽  
pp. 682-691 ◽  
Author(s):  
Jennifer Kadlowec ◽  
Krishnan Bhatia ◽  
Tirupathi R. Chandrupatla ◽  
John C. Chen ◽  
Eric Constans ◽  
...  
Keyword(s):  
Survey Data ◽  
Mechanical Engineering ◽  
Engineering Students ◽  
Integrated Design ◽  
Curriculum Assessment ◽  
Rowan University ◽  
Core Courses ◽  
Team Environment ◽  
Design Skills ◽  
The Impact

At Rowan University, design has been infused into the curriculum through an eight-semester course sequence called the Engineering Clinics. Through this experience, students learn the art and science of design in a multidisciplinary team environment and hone their design skills throughout their 4-year career. This paper describes the objectives of the clinics, types of projects, and how the clinics complement traditional core courses in the curriculum. Impacts and benefits of the clinics on students and faculty are discussed, including retention and graduate study rates comparing Rowan University mechanical engineering students to their peers nationally. An assessment of the clinics is presented based on survey data and accreditation objectives and outcomes. Survey data from students were assessed to determine levels of students’ satisfaction and confidence based on the clinics. Results of alumni and employer surveys also provide valuable feedback for assessing and improving the clinics as well as confirmation of the impact of clinics after graduation. Survey data are discussed along with challenges of the clinics at Rowan and adaptability of them at other institutions. Overall, the clinics are a positive and integrated design experience in the curriculum and assist students in achieving the program objectives.

scholarly journals Space variability of hydrological responses of Nature-Based Solutions and the resulting uncertainty

2020 ◽  
Author(s):  
Yangzi Qiu ◽  
Igor da Silva Rocha Paz ◽  
Feihu Chen ◽  
Pierre-Antoine Versini ◽  
Daniel Schertzer ◽  
...  
Keyword(s):  
Spatial Variability ◽  
Peak Flow ◽  
Hydrological Cycle ◽  
Green Roof ◽  
Spatial Arrangement ◽  
Intersection Theorem ◽  
Runoff Volume ◽  
Hydrological Responses ◽  
Total Runoff ◽  
The Impact

Abstract. During the last decades, the urban hydrological cycle has been strongly modified by the built environment, resulting in fast runoff and increasing the risk of waterlogging. Nature-Based Solutions (NBS), which apply green infrastructures, have been more and more widely considered as a sustainable approach for urban stormwater management. However, the assessment of NBS performance still requires further modelling development because of their hydrological responses sensitively depends on the representation of multiscale space variability of both the rainfall and the NBS distribution. Indeed, we initially argue this issue with the help of the multifractal intersection theorem. To illustrate the importance of this question, the spatial heterogeneous distributions of two series of NBS scenarios (porous pavement, rain garden, green roof, and combined) are quantified with the help of their fractal dimension. We point out consequences of their estimates. Then, a fully-distributed and physically-based hydrological model (Multi-Hydro) was applied to consider the studied catchment and these NBS scenarios with a spatial resolution of 10 m under two different types of rainfall: distributed and uniform, and for three rainfall events. These simulations show that the impact of spatial variability of rainfall on the uncertainty of peak flow of NBS scenarios ranges from about 8 % to 17 %, which is more pronounced than those of the total runoff volume. In addition, the spatial variability of the rainfall intensity at the largest rainfall peak responds almost linearly to the uncertainty of the peak flow of NBS scenarios. However, the hydrological responses of NBS scenarios are less affected by the spatial distribution of NBS. Finally, the intersection effects of the spatial variability of rainfall and the spatial arrangement of NBS seem more pronounced for the peak flow of green roof scenarios and the total runoff volume of combined scenarios.

scholarly journals Pengaruh Game Online Terhadap Cara Belajar Mahasiswa Jurusan Pendidikan Teknik Mesin Universitas Negeri Manado

2022 ◽  
Vol 2 (2) ◽  
pp. 83-89
Author(s):  
Partonduhan aritonang Partonduhan aritonang ◽  
Parsaoran Tamba ◽  
Jemmy Charles Kewas
Keyword(s):  
Student Learning ◽  
Mechanical Engineering ◽  
Online Games ◽  
Learning Ability ◽  
State University ◽  
Online Student ◽  
Quantitative Descriptive ◽  
The Many ◽  
The Impact ◽  
E Mail

PENGARUH GAME ONLINE TERHADAP CARA BELAJAR MAHASISWA JURUSAN PENDIDIKAN TEKNIK MESIN UNIVERSITAS NEGERI MANADO Partonduhan Aritonang1, I. P. Tamba2, Jemmy Charles Kelas3 1,2,3Jurusan Pendidikan Teknik Mesin, Universitas Negeri Manado, Kab. Minahasa e-mail: [email protected], [email protected], [email protected]   ABSTRAK Mahasiswa Pendidikan Teknik Mesin Universitas Negeri Manado yang merupakan anak-anak perantau kini telah mendapatkan dampak yang sangat nyata dari permainan game online. Terbukti dari banyaknya mahasiswa yang ikut ambil bagian dalam permainan ini, dari hasil pengamatan peneliti selaku mahasiswa yang aktif mendapatkan banyak data bahwa mahasiswa Pendidikan Teknik Mesin Universitas Negeri Manado yang aktif bermain memiliki kemampuan cara belajar yang kurang aktif dalam pembelajaran. Penelitian ini menggunakan metode penelitian deskriptif kuantitatif. Metode pengumpulan data yang digunakan yakni kuisioner atau angket. Teknik analisi data yang digunakan dalam penelitian ini yaitu analisis statistik deskriptif, Teknik Analisis Regresi dan pengujian hipotesis.Hasil dari penelitian ini yakni : bahwa pengaruh game online (X) terhadap cara belajar mahasiswa (Y) pada taraf t hitung > t tabel dan hasil uji korelasi rxy 0849. Game online berpengaruh signifikan terhadap cara belajar. Ini dapat dibuktikan dari hasil nilai Fhitung sebesar 4.113 dan nilai signifikansi Ftabel 0.00 < 0.05. Besarnya koefisien determinasi sebesar 0.79 atau 79%. Hal ini berarti 79% pengaruh game online terhadap cara belajar mahasiswa sedangkan untuk selebihnya 21% dipengaruhi oleh variabel lain yang tidak diteliti oleh penelitian ini.   Kata kunci : Game Online, Cara Belajar Mahasiswa THE INFLUENCE OF ONLINE GAMES ON HOW STUDENTS STUDYING MECHANICAL ENGINEERING AT MANADO STATE UNIVERSITY ABSTRACT Manado university's advanced mechanical engineering student who is a migrant child has now had a very real impact on online gaming. It is evident from the many students participating in the game that researchers as active university students have received a wealth of data that students studying engineering at manado state university who actively play have a learning ability that is less active in learning. The study USES a quantitative descriptive study method. The data collection method used was "questionnaire or angket." The data analysis used in the study are descriptive statistical analysis, regression analysis and hypothetical testing. The results of this study are: that how online games affect students' learning (y) at a level of t count > t tables and rxy 0849 cordating results. Online games significantly affect how to learn. This can be verified from the results of the ftable value of 4,113 and the significance of ftable 0.00. Critical coefficiencies by 0.79 or 79%. This means 79% of the impact online games have on student learning while for the rest 21% are affected by other variables not examined by this study. Key words : Game Online, student learning

DISCUSSION. RAILWAY MODERNIZATION CONFERENCE. THE IMPACT OF MECHANICAL ENGINEERING ON THE BRITISH RAILWAYS MODERNIZATION PLAN.

1961 ◽  
Vol 20 (3) ◽  
pp. 422-435
Author(s):  
J F HARRISON ◽  
SIR K HAGUE ◽  
H N G ALLEN ◽  
J S TRITTON ◽  
T SCHUR ◽  
...  
Keyword(s):  
Mechanical Engineering ◽  
The Impact

Establishing the Need to Broaden Bioengineering Research Exposure and Research Participation in Mechanical Engineering and Its Positive Impacts on Student Recruitment, Diversification, Retention and Graduation: Findings From the UMBC ME S-STEM Scholarship Program

2020 ◽  
Vol 142 (11) ◽  
Author(s):  
Liang Zhu ◽  
Charles Eggleton ◽  
Ronghui Ma ◽  
L. D. Timmie Topoleski ◽  
Deepa Madan
Keyword(s):  
Graduation Rates ◽  
Mechanical Engineering ◽  
Positive Impact ◽  
Student Recruitment ◽  
Retention Rates ◽  
Undergraduate Program ◽  
Research Activities ◽  
Scholarship Program ◽  
The Impact ◽  
Bio Engineering

Abstract The objectives of this study were to evaluate the current status of exposure to bio-engineering research in community college (CC) students and University of Maryland Baltimore County (UMBC) students, and to estimate relationships between research activities sponsored by the Mechanical Engineering (ME) S-STEM Scholarship Program and improvement in student enrollment/diversification, retention rates, and graduation rates. The analysis drew on data from ME undergraduate academic records at UMBC from 2008 to 2019. A survey was designed to assess the research exposure of CC and UMBC students and their evaluation of the research components included in recruitment and curriculum activities. Results show that exposure to research measured by attending a research seminar was low for the participants, around 37% for CC students and 21% for ME students at UMBC. The survey results indicate the positive impact of the scholarship programs at UMBC on the research exposure and research experience. The impact is more evident in students who originally transferred from a CC. The large increase in recruited female and CC students over the past 10 years indicated that the research-related activities of the ME S-STEM program played an instrumental role in those increases. Because of the research-related activities, the ME S-STEM program achieved retention and graduation rates higher than those in the ME undergraduate program (89% versus 60% for the 6 year graduation rate), as well a higher percentage of students enrolled in graduate school (30% versus 10%). We conclude that there is still a need to implement research-related activities in the ME undergraduate program, starting with student recruitment and continuing through the academic program. Results suggest that there is a positive impact of ME S-STEM research activities on student diversification, retention rates, and percentage of our graduates who are pursuing graduate degree.

A Web-Based Online Collaboration Tool for Formulating Senior Design Projects

2014 ◽  
Author(s):  
Sainath Varikuti ◽  
Jitesh H. Panchal ◽  
John M. Starkey
Keyword(s):  
Mechanical Engineering ◽  
Online Survey ◽  
Online Collaboration ◽  
Team Cohesiveness ◽  
Faculty Mentor ◽  
Design Project ◽  
Senior Design ◽  
Project Outcome ◽  
Design Projects ◽  
The Impact

A well formed senior design project is known to have significant benefits in terms of project outcome, student motivation, team cohesiveness, engagement, and student learning. Defining a good problem statement, forming a team of compatible and appropriately skilled students, and selecting an appropriate faculty mentor are critical aspects of project formation. Therefore, students in Mechanical Engineering at Purdue University are encouraged to suggest project ideas, form teams, and have them approved by the course coordinator before the semester starts. While there is significant literature on senior design projects, most of the existing work is focused on activities after the problem is defined and the teams are formed. There is a lack of mechanisms and tools to guide the project formation phase in senior design projects, which makes it challenging for students and faculty to collaboratively develop and refine project ideas and to establish appropriate teams. To address this challenge, we have implemented an online collaboration tool to share, discuss and obtain feedback on project ideas, and to facilitate collaboration among students and faculty prior to the start of the semester. Through an online survey and questionnaire to students, we are exploring the impact of the collaboration tool on the senior design project formation process. In this paper we present the design of the tool and the results from our ongoing study in the senior design class at Purdue Mechanical Engineering.

scholarly journals Factorial Design Analysis for Localization Algorithms

2018 ◽  
Vol 8 (12) ◽  
pp. 2654
Author(s):  
Joaquin Mass-Sanchez ◽  
Erica Ruiz-Ibarra ◽  
Ana Gonzalez-Sanchez ◽  
Adolfo Espinoza-Ruiz ◽  
Joaquin Cortez-Gonzalez
Keyword(s):  
Statistical Analysis ◽  
Noise Level ◽  
Performance Metrics ◽  
Extreme Values ◽  
Path Loss ◽  
Propagation Model ◽  
Path Loss Exponent ◽  
Localization Algorithms ◽  
Accuracy And Precision ◽  
The Impact

Localization is a fundamental problem in Wireless Sensor Networks, as it provides useful information regarding the detection of an event. There are different localization algorithms applied in single-hop or multi-hop networks; in both cases their performance depends on several factors involved in the evaluation scenario such as node density, the number of reference nodes and the log-normal shadowing propagation model, determined by the path-loss exponent (η) and the noise level (σdB) which impact on the accuracy and precision performance metrics of localization techniques. In this paper, we present a statistical analysis based on the 2k factorial methodology to determine the key factors affecting the performance metrics of localization techniques in a single-hop network to concentrate on such parameters, thus reducing the amount of simulation time required. For this proposal, MATLAB simulations are carried out in different scenarios, i.e., extreme values are used for each of the factors of interest and the impact of the interaction among them in the performance metrics is observed. The simulation results show that the path-loss exponent (η) and noise level (σdB) factors have the greatest impact on the accuracy and precision metrics evaluated in this study. Based on this statistical analysis, we recommend estimating the propagation model as close to reality as possible to consider it in the design of new localization techniques and thus improve their accuracy and precision metrics.

scholarly journals Selection and spatial arrangement of building materials during the construction of nest turrets by grass-cutting ants

2020 ◽  
Vol 7 (10) ◽  
pp. 201312
Author(s):  
Daniela Römer ◽  
Marcela I. Cosarinsky ◽  
Flavio Roces
Keyword(s):  
Building Materials ◽  
Material Selection ◽  
Spatial Location ◽  
Spatial Arrangement ◽  
The Self ◽  
Nest Entrance ◽  
Self Organized ◽  
The Impact ◽  
Over Time ◽  
Selection Of

Ants build complex nest structures by reacting to simple, local stimuli. While underground nests result from the space generated by digging, some leaf- and grass-cutting ants also construct conspicuous aboveground turrets around nest openings. We investigated whether the selection of specific building materials occurs during turret construction in Acromyrmex fracticornis grass-cutting ants, and asked whether single building decisions at the beginning can modify the final turret architecture. To quantify workers' material selection, the original nest turret was removed and a choice between two artificial building materials, thin and thick sticks, was offered for rebuilding. Workers preferred thick sticks at the very beginning of turret construction, showed varying preferences thereafter, and changed to prefer thin sticks for the upper, final part of the turret, indicating that they selected different building materials over time to create a stable structure. The impact of a single building choice on turret architecture was evaluated by placing artificial beams that divided a colony's nest entrance at the beginning of turret rebuilding. Splitting the nest entrance led to the self-organized construction of turrets with branched galleries ending in multiple openings, showing that the spatial location of a single building material can strongly influence turret morphology.

Bootstrap-current computations for a stellarator-reactor plasma

1990 ◽  
Vol 44 (3) ◽  
pp. 431-453 ◽  
Author(s):  
W. D. D'Haeseleer ◽  
W. N. G. Hitchon ◽  
C. D. Beidler ◽  
J. L. Shohet
Keyword(s):  
Distribution Function ◽  
Kinetic Equation ◽  
Physical Interpretation ◽  
Collision Operator ◽  
Numerical Code ◽  
Parallel Flows ◽  
Bootstrap Current ◽  
The Difference ◽  
Rotational Transform ◽  
The Impact

Numerical results for the bootstrap current in a stellarator-reactor plasma are presented. The distribution function f is computed numerically from a kinetic equation that is averaged over the helical ripple. The parallel flows and the current are obtained as v‖ moments of f. The physics issues embedded in the code are discussed concisely, concentrating on the justification as to why the bootstrap current can be estimated from an averaged scheme. Results are presented for typical stellarator-reactor parameters. The numerical code FLOCS predicts that the momentum-restoring terms in the collision operator have no significant impact on the value of the bootstrap current (the difference being about 10%). The results obtained are related to the equilibrium flows, and a physical interpretation based on the kinetic picture is presented. Finally, an estimate for the impact of J‖ on the rotational transform is given.

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