Theses and Dissertations

Issuing Body

Mississippi State University


Younan, H. Nicolas

Committee Member

Jones, A. Bryan

Committee Member

Bammann, Douglas

Committee Member

Shivaji, Ratnasingham

Date of Degree


Document Type

Dissertation - Open Access


Electrical Engineering

Degree Name

Doctor of Philosophy


James Worth Bagley College of Engineering


Department of Computer and Electrical Engineering


In the effort to simulate the biologically inspired continuum robot’s dynamic capabilities, researchers have been faced with the daunting task of simulating—in real-time—the complete three dimensional dynamics of the the “beam-like” structure which includes the three “stiff” degrees-ofreedom transverse and dilational shear. Therefore, researchers have traditionally limited the difficulty of the problem with simplifying assumptions. This study, however, puts forward a solution which makes no simplifying assumptions and trades off only the real-time requirement of the desired solution. The solution is a Finite Difference Time Domain method employing an explicit single step method with cheap right hands sides. The cheap right hand sides are the result of a rather ingenious formulation of the classical beam called the Cosserat rod by, first, the Cosserat brothers and, later, Stuart S. Antman which results in five nonlinear but uncoupled equations that require only multiplication and addition. The method is therefore suitable for hardware implementation thus moving the real-time requirement from a software solution to a hardware solution.



FDTD||numerical methods||cosserat rod