Dynamics modelling, simulation, and control of a spacecraft/manipulator system

Four well-known formalisms for mathematical modelling of the dynamics of a spacecraft/manipulator system are derived from the unifying d'Alembert principle. The Newton-Euler formalism is discussed in more detail, as it allows efficient numerical simulation. An algorithm is defined for the control of the manipulator end-effector motion in...

Equivalent flexibility modelling: A novel approach towards recursive simulation of flexible spacecraft-manipulator dynamics

For the simulation of rigid spacecraft manipulator dynamics there exists efficient recursive software. Extension of this software for the simulation of flexible spacecraft-manipulator dynamics would have important advantages. In this paper the method of Equivalent Flexibility Modelling (EFM) is outlined. Each flexible body is re-modelled as a...

Improving operation of drinking water treatment through modelling

Modelling and simulation of bone implant healing

In this report a model for the ingrowth of a prosthesis in a bone will be formulated and simulated. First an overview is given of all the biological processes that are part of this healing process and what external factors can influence this process. Then a first mathematical model is presented in which the mechanical stimuli (one of the...

Analyzing Transition Dynamics: The Actor-Option Framework for Modelling Socio-Technical Systems

Transition can be characterized as long-term structural changes in the societal systems, through which the way these systems function change significantly. Both the scope and extent of change, and the nature of the societal systems make transition processes a complex dynamic phenomena to understand. This study explores both methodological and...

Multi-class continuum traffic flow models: Analysis and simulation methods

How to model and simulate traffic flow including different vehicles such as cars and trucks? This dissertation answers this question by analyzing existing models and simulation methods and by developing new ones. The new model (Fastlane) describes traffic as a continuum flow while accounting for different types of vehicles. It is reformulated in...

Modeling and simulation of intrafusal muscle fiber using a multi-sarcomeric model

Muscle spindle is an organ of proprioception that plays an important role in neuro-muscular control of the human joints. It is composed of intrafusal fibers, the mechanical properties of which determine the afferent response of the spindle. Intrafusal fibers are not homogenous: they are composed of many sarcomeres, have localized fusimotor...

Integrated Fault Detection, Classification and Section Identification (I-FDCSI) Method for Real Distribution Networks Using μPMUs

This paper presents a rules-based integrated fault detection, classification and section identification (I-FDCSI) method for real distribution networks (DN) using micro-phasor measurement units ((Formula presented.) PMUs). The proposed method utilizes the high-resolution synchronized realistic measurements from the strategically installed ...

Validation of a novel bicycle simulator with realistic lateral and roll motion

Bicycle simulators have been the subject of considerable research, however, few of these attempts have integrated direct balance control and realistic freedom of motion to deliver a real-world dynamic cycling experience. This study presents the BIKE (Bicycle Intrinsic Kinematics Emulator) system, a kinematic bicycle simulator, developed with...

Short-term interactions between Staphylococcus aureus and Pseudomonas aeruginosa: BEP Report

Staphylococcus aureus and Pseudomonas aeruginosa are two species of bacteria that are involved in numerous conditions, including lung infections and chronic wound infections. The aim of this project was to study the short-term interactions that occur when P. aeruginosa first encounters an established S. aureus colony, which it then seeks to...