Physical Sciences and Mathematics Commons^™

Program Modeling And Control Synthesis For Robotic Manipulators, Ramiz Najib Ballou

Masters Theses

"The control and programming methodology of industrial robots is becoming increasingly important. The speed and accuracy of data generation, and the performance of the robot are considered the most important factors in robotics control.

This paper presents and discusses algorithms that solve for the inverse solution for a given point in space at a very high speed based on the top down abstract method. The algorithms are independent of any specific type of manipulator configuration or programming language. The algorithms were implemented or the IBM-PC using the FORTRAN language to control the Armdroid robot. The program generates 500 sets of …

An Experimental Study Of The Effects Of Modularity On Resource Consumption In Software Development, Alan D. Christiansen

Masters Theses

"Many authors have encouraged the use of modular programming techniques in software development. In fact, there is almost total agreement within industrial and academic circles that modularity is a desirable feature of any software package. Unfortunately, the desirability of modular design is almost always voiced without support from experimental evidence.

This thesis consists of an experiment comparing the resource consumption of programmers based on the modularity practices employed during the design and programming phases of software development. The experiment tests the effectiveness of modularity in reducing psychological complexity of software.

The results of the research show that in some cases …

The Optimal Trajectory Modelling Of Robot Manipulators, Mary Claire Miller

Masters Theses

"Greater robot capability can be achieved through the use of robot manipulator control systems. Crucial to the success of these control systems is the optimal trajectory modelling of the path traced by the end- effector. To create this optimal path the utilization of B-Spline curve functions will be investigated, and compared to Cubic Spline curve functions"--Abstract, page ii.

Lithology And Sedimentology Of The Graydon Springs Channel, Pennsylvanian Of Southwestern Missouri, Gregory Lee Easson

Masters Theses

"The Graydon Springs Member of Southwest Missouri, here assigned to the Warner Formation of Pennsylvanian age was sampled and examined in order to document the lithology, sedimentology, source area, stratigraphic position, and overall geologic history of these channel-like bodies. The member is composed of an upper sandstone unit and a lower conglomerate unit.

Laboratory investigations of thin sections indicate that the sandstone unit is composed of well sorted, well rounded quartz and minor amounts of accessory minerals cemented with iron oxide, commonly hematite. Field observations indicate that the conglomerate unit is composed of very poorly sorted, very well rounded chert …

The Design And Implementation Of The Programming Language Natural, Alan L. Sparks

Masters Theses

"This paper reports progress on the development of the programming language Natural, currently under design by Dr. Thomas J. Sager at the University of Missouri--Rolla. Natural is a very high-level language with a mathematical flavor, and includes several concepts relatively uncommon in programming language design.

The text also discusses an implementation on the IBM Personal Computer of Mini-Natural, a subset of Natural, and presents examples of programs written in Mini-Natural"--Abstract, page ii.

A Simple Method For Organizing Nearly Optimal Binary Search Trees, Joy L. Henderson

Masters Theses

"Improving the efficiency of retrieving information concerns users of computer systems involved in many applications- One way of addressing this concern is to organize a sorted sequence into a binary search tree. Knuth's Algorithm K is a bottom-up organization algorithm that always constructs a binary tree which minimizes average search time. However, the cost of executing Algorithm K is prohibitive for a large tree. The aim of this work is to find a less costly method of organizing sorted sequences into nearly-optimal binary search trees.

We present a top-down organization method which yields better average search times than top-down methods …

Survey Of Routing Algorithms For Computer Networks, Lu Yu

Masters Theses

"This thesis gives a general discussion of routing for computer networks, followed by an overview of a number of typical routing algorithms used or reported in the past few years. Attention is mainly focused on distributed adaptive routing algorithms for packet switching (or message switching) networks. Algorithms for major commercial networks (or network architectures) are reviewed as well, for the convenience of comparison"--Abstract, page ii.

Relation Of Bitumen To Ore In The Magmont West Orebody, Southeast Missouri, Mark Alan Marikos

Masters Theses

"Bitumen in the form of oil blebs from the Magmont West orebody of the Viburnum Trend was examined and analysed in an attempt to relate hydrocarbon distribution and origin to ore genesis. Hydrogen, carbon, nitrogen, sulfur and oxygen percentages were determined by elemental analyses. Trace element composition was determined by emmission spectroscopy and the composition of the bitumen was calculated with respect to aromatic hydrocarbons, saturated hydrocarbons and NSO (nitrogen-sulfur-oxygen) components. The bitumen and kerogen from associated shale samples were evaluated by Rock-Eval pyrolysis and pyrolysis-gas chromatography.

The bitumen was calculated to be approximately 40 to 50 percent aromatic and …

Oil Producing Upper Cherokee And Lower Marmaton (Pennsylvanian) Channel Sandstones Of Jackson And Cass Counties, Missouri, Stephen Thomas Carroll

Masters Theses

"Approximately 240 gamma ray-neutron logs were interpreted and correlated in an attempt to isolate separate channels collectively referred to as "Squirrel" sands in the upper Cherokee and lower Marmaton (Pennsylvanian) rocks of Jackson and Cass counties, Missouri. Isopach maps were prepared for two of the identifiable fluvial sandstones and a structure map was drawn on the laterally extensive Anna Shale.

The term "Squirrel" has been applied to as many as five different sandstone packages, and thus, has been the source of a great deal of confusion. In an attempt to sort out the confusion this thesis recognizes and defines three …

Plasma Polymerization Of Tetramethyldisiloxane By A Magnetron Glow Discharge, Ashok K. Sharma, H. Yasuda

Chemistry Faculty Research & Creative Works

Plasma polymerization of tetramethyldisiloxane by a magnetron glow discharge was studied. The glow discharge was created between parallel electrodes with a 10 kHz electric power source with a superimposed magnetic field using permanent bar magnets. Polymers were deposited onto moving substrates placed on the surface of a rotating disc located in between the electrodes. The deposition rates were determined with a quartz crystal thickness monitor placed on the plane of the rotating disc and just outside the edge of the disc. The current-voltage relationship observed for plasma polymerization of the monomer depends on the monomer feed rate and the conditioning …

Electron Drift Velocities In Gas Mixtures Of He, N2, And Co 2, Michael C. Cornell, Ian M. Littlewood, Howard L. Brooks, Kaare J. Nygaard

Physics Faculty Research & Creative Works

An electron swarm experiment has been used to obtain electron drift velocities in the He:CO2:N2 mixtures 0:1:1, 3:1:2, and 3:1:1. The E/N range of 3 to 57 Td was studied with total gas pressure varied from 50 to 200 Torr. These particular mixtures have not been previously studied experimentally. Good agreement is observed between theoretical calculations and experimental data.

Isotope Effect And Momentum-Transfer Scaling In The Elastic-Scattering Differential Cross Sections For Hydrogen-Isotope Collision Systems, Eduard P. Rille, Jerry Peacher, Denver G. Seely, Thomas J. Kvale, E. Redd, D. M. Blankenship, John T. Park

Physics Faculty Research & Creative Works

A projectile-dependent isotope effect was found for the elastic-scattering differential cross sections in the hydrogen-isotope collision systems. All four differential cross sections lie on a common curve if they are divided by the square of the reduced mass and plotted against momentum transfer. The experimental results are in satisfactory agreement with a simple Glauber-approximation calculation.

Two- And Three-Body Electron-Ion Recombination In Carbon Dioxide, Ian M. Littlewood, M. C. Cornell, B. K. Clark, Kaare J. Nygaard

Physics Faculty Research & Creative Works

The electron-ion recombination rate in carbon dioxide was measured as a function of electric field strength and gas pressure. The separate effects of two- and three-body recombination was observed, and the respective rate constants obtained. The results indicate that three-body recombination is dominant at low field strengths for gas pressures above 1 atm, whereas two-body recombination is dominant at high field strengths.

Charge Transfer And Ionisation Processes Involving Multiply Charged Ions In Collision With Atomic Hydrogen, D. J.W. Hardie, Ronald E. Olson

Physics Faculty Research & Creative Works

Total cross sections are presented for the charge transfer reaction X^q++H(1s) to X(q-1)+H⁺ and ionization process X^q++H(1s) to X^q++H⁺-e-. Here X^q+ is a fully or partially stripped ion. The collision energy range lies between 25-200 keV amu-1. Cross sections are also given for charge transfer into particular ionic n states and n, l states for energies of 25 and 50 keV amu-1, where X^q+=H⁺, He 2+, C⁶⁺, O⁸⁺. The calculations were performed by the classical trajectory Monte Carlo method of Olson and …

Electron Capture Cross Sections For Tih⁴⁺, H. Sato, M. Kimura, A. E. Wetmore, Ronald E. Olson

Physics Faculty Research & Creative Works

Electron capture cross sections have been computed for Ti⁴⁺+H to Ti³⁺+H+ and Ti³⁺+H+ to Ti⁴⁺+H, where the reactants were in their ground states. The energy range investigated was 0.1 to 10 keV amu-1. The impact parameter perturbed-stationary-state method incorporating electron translation factors were used to calculate the cross sections. The molecular wavefunctions were generated using the pseudo-potential method. At 1 keV amu-1 ( nu rel=4.4*107 cm s-1), representative electron capture cross sections for the Ti⁴⁺+H and Ti³⁺+H⁺ reactions are 2*10-15 cm 2 and 1*10-17 cm2, respectively. An …

Reactive Scattering Cell For Atomic Hydrogen And Deuterium, John T. Park, E. Redd, T. J. Kvale, E. Rille

Physics Faculty Research & Creative Works

A design for a high-temperature reactive scattering cell for atomic hydrogen and atomic deuterium is described. At approximately 2700 K a dissociation of the molecular target species of over 95% has been obtained. The lifetime of 340 h of operation is sufficient for precision, long-time, differential cross-section measurements.

Composition Of The Critical Nucleus In Multicomponent Vapor Nucleation, Gerald Wilemski

Physics Faculty Research & Creative Works

No abstract provided.

Structural Changes Induced By Addition Of A Hydrocarbon To Water/Amphiphile Mixtures, H. Sagitani, Stig Friberg

Chemistry Faculty Research & Creative Works

The phase conditions in a system of water, hexadecane, sodium dodecyl sulphate, and di-ethylene glycol dodecyl ether showed the W/O microemulsions to be obtained first after destabilization of a liquid crystalline phase by addition of the hexadecane. The original lamellar liquid crystalline phase was moved towards higher surfactant/cosurfactant ratios and a new phase with inverse amphiphile cylinders in a hexagonal packing appeared. © 1983 Steinkopff.

Proportional Advancement From Regional Programming Contests, John R. Metzner

Computer Science Faculty Research & Creative Works

No abstract provided.

Electrical Properties Of Plasma-Polymerized Thin Organic Films, Maciej Gazicki, H. Yasuda

Chemistry Faculty Research & Creative Works

The electrical properties of plasma-polymerized films are summarized and compared to those of conventional polymers. Particular attention is devoted to the dielectric relaxation, dielectric breakdown, electric conductivity and photoconductivity, and their control via control of the plasma parameters. © 1983 Plenum Publishing Corporation.

Transport Properties Of Ground State Nitrogen Atoms, James C. Rainwater, Louis Biolsi Jr., Kevin J. Biolsi, Paul M. Holland

Chemistry Faculty Research & Creative Works

Transport properties of dilute monatomic gases depend on the two body atom-atom interaction potential. When two ground state (⁴S) nitrogen atoms interact, they can follow any of four potential energy curves corresponding to the N₂ molecule; the X ¹Σ⁺_g, A³Σ⁺_u, ⁵Σ⁺_g, and ⁷Σ⁺_u curves. Transport collision integrals for the ¹Σ⁺_g and ³Σ⁺_u states have been calculated by representing the potentials for these states with the Hulburt-Hirschfelder potential. The⁵Σ⁺_g state has a …

Study Of Prenucleation Ion Clusters: Correlation Between Ion Mobility Spectra And Size Distributions, Sung-Ho Suck Salk, Donald E. Hagen, James L. Kassner

Physics Faculty Research & Creative Works

Additional studies regarding our earlier electrothermodynamic theory are presented. Comparisons to recent expansion cloud chamber ion mobility measurements are made, indicating general agreement with observations. This theory predicts more stable and ordered structure for prenucleation ion-water cluster systems than accounted for by the classical Thomson's theory. In the limiting case of the dielectric constant ε = 1, our monopole electrostatic energy term contributed by the foreign ion center precisely converges to that of Thomson. Predicted ion cluster size distributions are found to correlate well with ion cluster size spectra obtained from the ion mobility measurements of hydrated ion clusters and …

Momentum-Transfer Scaling In Hydrogen-Isotope Collision Systems, Eduard P. Rille, Jerry Peacher, Thomas J. Kvale, E. Redd, D. M. Blankenship, John T. Park

Physics Faculty Research & Creative Works

The differential cross sections for excitation of atomic hydrogen isotopes to their n=2 states by proton or deutron impact are found to follow a simple scaling relationship. The momentum-transfer-scaled differential excitation cross sections, for a projectile velocity of 1.26 a.u., produce one differential cross-section curve for all four possible hydrogen-isotope collision systems. The experimental results are in excellent agreement with our Glauber-approximation calculations.

Structural Studies Of Low Temperature Ice Iₕ Using A Central Force Potential Model, Peter W. Deutsch, Barbara N. Hale, Richard C. Ward, Donald A. Reago Jr.

Physics Faculty Research & Creative Works

The revised central force potentials of Stillinger and Rahman [J. Chem. Phys. 68, 666 (1978)] are used to study the binding energy, structure, and multipole moments of a periodic ice I_h sample with a unit cell of 192 water molecules. The initial configuration for the unit cell has each oxygen in a wurtzite structure and intramolecular H-O-H angles symmetrically positioned in the tetrahedral O-O-O angles. Hydrogens are placed such that the total dipole moment for the unit cell is zero and the diagonal quadrupole moments are small (≲ 10^-28 esu cm²). Subject to these restrictions, a …

Exciton Trapping And Sensitized Luminescence: A Generalized Theory For All Trap Concentrations, Vasudev M. Kenkre, Paul Ernest Parris

Physics Faculty Research & Creative Works

The generalized-master-equation theory of sensitized luminescence in molecular crystals is extended to cover arbitrary guest concentrations by making use of a recently introduced formalism. Central to the formalism is a quantity termed the ν function, which is an ensemble average of the sum of host propagators over guest-influenced host sites. A variety of experimentally relevant sensitized luminescence observables, such as the host (and guest) luminescence intensity, the quantum yields, and the energy-transfer rates are simply related to the ν function. It is shown how the latter can be calculated for exciton motion possessing an arbitrary degree of coherence, dimensionality, and …

Homogeneous Nucleation Rate Measurements For Water Over A Wide Range Of Temperature And Nucleation Rate, Ronald C. Miller, Robert J. Anderson, James L. Kassner, Donald E. Hagen

Physics Faculty Research & Creative Works

An expansion cloud chamber was used to measure the homogeneous nucleation rate for water over a wide range of temperature from 230-290 K and nucleation rates of 1-10⁶ drops cm^-3 s^-1. The comprehensive and extensive nature of this data allows a much more detailed comparison between theory and experiment than has previously been possible. The expansion chamber technique employs continuous pressure measurement and an adiabatic pulse of supersaturation to give the time history of supersaturation and temperature during the nucleation. The resulting drop concentration is determined using photographic techniques. The experimental observations are presented in tabular …

Reduced Set Of Phages For Typing Salmonellae, Melvin Gershman, George Markowsky

Computer Science Faculty Research & Creative Works

A set composed of 27 phages is described for differentiating Salmonella spp. representative of groups A, B, C₁, C₂, D₁, D₂, E₁, E₂, E₃, E₄, G₁, K, and N. All of the 1,245 cultures used in this effort were typable and were differentiated on the basis of the 420 phage patterns observed. All results were reproducible. Characteristic phage patterns were produced by a variety of Salmonella serovars isolated from campus incidents and a number of hospital, family, restaurant, and processing plant outbreaks …

Lithofacies Analysis Of The Roubidoux Formation, South Central Missouri, Michael William Harbaugh

Masters Theses

"Lithologic and thickness data of the Lower Ordovician rocks of the Roubidoux Formation, south central Missouri, were interpreted from sample logs. Maps included are based on structure, thickness and lateral and vertical lithologic variability. Sand distribution in the Roubidoux is represented by a "sand percentage" map, a "sand isolith" map, and a "tripartite sand distribution" map. The Roubidoux Formation consists of a sequence of dolomite, sandy dolomite, sand and chert. It is believed that the Roubidoux was deposited on a stable marine platform receiving a supply of elastics from the north and northeast. The sands were deposited by longshore or …

Ion-Atom Differential Cross Sections At Intermediate Energies, Ronald E. Olson

Physics Faculty Research & Creative Works

The classical-trajectory Monte Carlo method has been used to calculate H++H(1s) electron-capture and ionization differential cross sections in the range 25-200 keV. The results indicate the importance of including excited product states to describe the small-angle electron-capture scattering. Angular scattering of the electron removed by the ionization process has been studied as a function of ejected-electron velocity ve. The classical calculations are in reasonable agreement with coupled-channel results of Shakeshaft [Phys. Rev. A 18, 1930 (1978)] as to the "electron capture to the continuum" (ECC) component of the ionization process where this term is defined as the ejected electron being …

Ion Scattering From State-Selected Rydberg Atoms, G. A. Kohring, A. E. Wetmore, Ronald E. Olson

Physics Faculty Research & Creative Works

Classical-trajectory Monte Carlo calculations have been performed for collisions of protons with state-selected hydrogenic Rydberg atoms. The examples investigated were Rydberg atoms in the n=10, l=9 level with ml=0 and 9. The collision velocity range was 0.1 to 1.0 a.u. (2.2x107 to 2.2x108 cm/s). The ionization cross sections were found to be relatively insensitive to changes in the ml levels. However, the charge-transfer cross sections showed considerable enhancement if the Rydberg electron is orientated in a plane which is parallel to the direction of the incident projectile. © 1983 The American Physical Society.