Title of dissertation: SIMULATION MODELING OF FLIGHT DYNAMICS, CONTROL AND TRAJECTORY OPTIMIZATION OF ROTORCRAFT TOWING SUBMERGED LOADS Ananth Sridharan, Doctor of Philosophy, 2014 Dissertation directed by: Professor Roberto Celi Department of Aerospace Engineering This work presents the mathematical modeling and analysis of helicopters towing submerged loads using long cables for sub-surface o...

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

Stress grading (SG) layer in cable terminations limits the critical electric field and properties of SG materials are important issues which have to be considered during manufacturing and selecting procedure. In this paper, two different types of (SG) materials are analyzed by both theory and test. According to the applied theory, important parameters as: electrical resistivity, breakdown volta...

this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

The CABLE project developed a local process based on the Change Academy model in order to bring about significant curricular and structural change at the University of Hertfordshire, specifically to embed blended learning within the Academic Schools. Teams from six academic schools were selected to take part in the Change Academy for Blended Learning Enhancement (CABLE) scheme in 2006. The aim ...

Cable this structural element known since prehistoric times perhaps – was for many years used exclusively for mechanical engineering purposes. It has penetrated the civil engineering at the end of the 19th century thanks to the progress of the bridge engineering. [1]. Its excellent flexibility (and its related zero bending moments) and strength enable it to span very long distances with minimal...

The market application value of power cables has gradually emerged with the development various industries. Cable laying is a basic project in construction grid and key part engineering construction, content which related to safe reliable operation entire grid. With process cable, metal sheath subjected structural damage such as extrusion deformation. This paper takes 110kV cable line an exampl...

in this paper coupled nonlinear equations of motion of a suspended cable with time dependent tension and velocity are derived by using hamilton’s principal. a modal analysis for a stationary sagged cable is initially carried out in order to identify the dynamic system. the natural solution is directed to compute the natural frequencies and mode shapes of the free vibration of a suspended cable....