Nguồn ngoài

System Design for Uncertainty

This text covers the design, construction, and testing of field robotic systems, through team projects with each student responsible for a specific subsystem. Projects focus on electronics, instrumentation, and machine elements. Design for operation in uncertain conditions is a focus point, with ocean waves and marine structures as a central theme. Topics include basic statistics, linear systems, Fourier transforms, random processes, spectra, ethics in engineering practice, and extreme events.

Mechanical Engineering Engineering

Tác giả: Franz S. Hover & Michael S. Triantafyllou
Nhà xuất bản: Massachusetts Institute of Technology
Nguồn: LibreTexts
Giấy phép: CC BY-NC-SA
Ngôn ngữ: EN

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01: Introduction
1.01: Introduction to Course
02: Linear Systems
2.01: Definition of a System
2.02: Time-Invariant Systems
2.03: Linear Systems
2.04: The Impulse Response and Convolution
2.05: Causal Systems
2.06: An Example of Finding the Impulse Response
2.07: Complex Numbers
2.08: Fourier Transform
2.09: The Angle of a Transfer Function
2.10: The Laplace Transform
03: Probability
3.01: Events
3.02: Conditional Probability
3.03: Bayes' Rule
3.04: Random Variables
3.05: Continuous Random Variables and the Probability Density Function
3.06: The Gaussian PDF
3.07: The Cumulative Probability Function
3.08: Central Limit Theorem
04: Random Processes
4.01: Time Averages
4.02: Ensemble Averages
4.03: Stationarity
4.04: The Spectrum- Definition
4.05: Wiener-Khinchine Relation
4.06: Spectrum Interpretation
05: Short-Term Statistics
5.01: Introduction to Short-Term Statistics
5.02: Central Role of the Gaussian and Rayleigh Distributions
5.03: Frequency of Upcrossings
5.04: Maxima At and Above a Given Level
5.05: 1 N'th Highest Maxima
5.06: 1 N'th Average Value
5.07: The 100-Year Wave - Estimate from Short-Term Statistics
06: Water Waves
6.01: Constitutive and Governing Relations
6.02: Rotation and Viscous Effects
6.03: Velocity Potential
6.04: Linear Waves
6.05: Deepwater Waves
6.06: Wave Loading of Stationary and Moving Bodies
6.07: Limits of the Linear Theory
6.08: Characteristics of Real Ocean Waves
07: Optimization
7.01: Introduction to Optimization
7.02: Single-Dimension Continuous Optimization
7.03: Multi-Dimensional Continuous Optimization
7.04: Linear Programming
7.05: Integer Linear Programming
7.06: Min-Max Optimization for Discrete Choices
7.07: Dynamic Programming
7.08: Solving Dynamic Programming on a Computer
08: Stochastic Simulation
8.01: Introduction to Stochastic Simulation
8.02: Monte Carlo Simulation
8.03: Making Random Numbers
8.04: Grid-Based Techniques
8.05: Issues of Cost and Accuracy
09: Kinematics of Moving Frames
9.01: Introduction to Moving-Frame Kinematics
9.02: Rotation of Reference Frames
9.03: Differential Rotations
9.04: Rate of Change of Euler Angles
9.05: A Practical Example- Dead Reckoning
10: Vehicle Inertial Dynamics
10.01: Momentum of a Particle
10.02: Linear Momentum in a Moving Frame
10.03: Example - Mass on a String
10.04: Angular Momentum
10.05: Example Spinning Book
10.6: Parallel Axis Theorem
10.7: Basis for Simulation
10.8: What Does an Inertial Measurement Unit Measure?
11: Control Fundamentals
11.01: New Page
11.02: New Page
11.03: Stability
11.04: Representing Linear Systems
11.05: Block Diagrams and Transfer Functions
11.06: PID Controllers
11.7: Example: PID Control
11.8: Heuristic Tuning
12: Control Systems Loopshaping
12.01: Introduction to Loopshaping
12.02: Roots of Stability–Nyquist Criterion
12.03: Design for Nominal Performance
12.04: Design for Robustness
12.05: Robust Performance
12.06: Implications of Bode’s Integral
12.7: The Recipe for Loopshaping
13: Math Facts
13.01: Vectors
13.02: Matrices