Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 33 for “"6DOF"”.
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Adaptive Controller Development and Evaluation for a 6DOF Controllable Multirotor
… and rotational motion (six degree of freedom, 6DOF, motion). The development of controllers for various 6DOF controllable multirotors has been much more limited than development for quadrotors, which makes selecting a controller for a 6DOF multirotor difficult. The omnicopter is subject to …
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Sensorless ultrasound probe 6DoF pose estimation through the use of CNNs on image data
… We show how the proposed method can regress the 6DoF pose within a certain degree of accuracy.
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L'estimation de pose 6DOF pour les objets industriels complexes dans le cadre de bin picking
… au bras robotisé pour détecter et estimer la 6DoF. En l’occurrence, une tentative d'essai avec PoseCNN a déjà été testée auparavant, mais cet algorithme n'a réussi à détecter aucune instance dans une scène réelle. Pour mener à bien ce projet, le présent travail vise à étudier plus en détails …
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Advancing 6DoF Object Pose Estimation: Keypoint Voting, Optimal Keypoint Sampling, and Bridging the Simulation-to-real Gap
… explores advancements in six-degree-of-freedom (6DoF) object pose estimation using point cloud and RGB-D data. Three novel methodologies are proposed to address distinct challenges in this field. First, RCVPose3D introduces a cascaded keypoint voting framework that separates semantic segmentation …
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Visual Servo Based Space Robotic Docking for Active Space Debris Removal
This thesis developed a 6DOF pose detection algorithm using machine learning capable of providing the orientation and location of an object in various lighting conditions and at different angles, for the purposes of space robotic rendezvous and docking control. The computer vision algorithm was …
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3D Self-Localization of Drones using a Single Millimeter-Wave Anchor
… dark, and GPS-denied settings. MiFly performs 6DoF self-localization by leveraging a single millimeter-wave (mmWave) anchor in its vicinity- even if that anchor is visually occluded. MmWave signals are used in radar and 5G systems and can operate in the dark and through occlusions. MiFly …
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Theoretical and Experimental Investigation of Free-Floating Space Manipulator Motion Control Using Reinforcement Learning
… the critical motion planning problem for a 6DOF free-floating space manipulator using model-free Reinforcement Learning. This problem is caused by dynamic coupling between the spacecraft and robotic manipulator, which significantly affects control and precision in the space environment. This …
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Quantitative Analysis of Non-Linear Probabilistic State Estimation Filters for Deployment on Dynamic Unmanned Systems
… in 3D, where a Six Degreeof-Freedom EKF (6DOF-EKF) was designed using Light Detection and Ranging (LiDAR) as its primary observation source. A two step method was proposed which extracted information between consecutive LiDAR scans. Firstly, motion estimation concerning Cartesian states x, …
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Comparison of Guidance Methods for Autonomous Planetary Lander
… a Newtonian approach. A six degree of freedom (6DOF) simulation of the vehicle system dynamics is programmed in Simulink to test the various guidance methods. The guidance methods are assessed using several different trajectories.
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Towards Active Object-Based Navigation
… of the difficulties is that to obtain accurate 6DOF object pose estimates, typically the object needs to be centered in the field of view of the camera, and viewed from a favorable viewing distance. To help meet this need, this thesis has developed a pan-tilt actively controlled camera mount, …
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Modeling and validation of a subscale aerobatic aircraft configuration in spin
… which assists with the six-degree-of-freedom (6DOF) simulation of the aerodynamics and flight dynamics of an aircraft. This code places particular emphasis on the simulation of the stall/spin regime. The flight-testing phase of this research was conducted using a radio-controlled unmanned …
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Experimental Investigation into the Long-Term Seismic Performance of Dry Storage Casks
… anchors, one using the six-degree-of-freedom (6DOF) shake table and the other conducted on a biaxial shake table in the Earthquake Engineering Laboratory at the University of Nevada, Reno. The final anchored experiment was conducted using conventional length anchors and the biaxial shake table. …
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ROBUST CONTROL OF AN EVTOL THROUGH TRANSITION WITH A GAIN SCHEDULING LQR CONTROLLER
… through implementation in nonlinear 3DOF and 6DOF simulations. The robustness of the controller is tested through simulating transition and virtual mission profiles.
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Advances in high-speed store separation for upward-ejected stores and dynamic cavity doors
… this study uses computational fluid dynamics and 6DoF motion analysis to predict such store trajectories in high-speed flow. Several store designs are analyzed at various ejection velocities in Mach 4 and Mach 6 conditions. The trajectory results show that streamlined store geometries may not …
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Development of a small parafoil vehicle for precision delivery
… be employed to provide the necessary accuracy. A 6DOF parafoil simulation was created in the Matlab/Simulink environment to study the parafoil dynamics and assess the feasibility of the delivery method. The parafoil's range and controllability were tested under a variety of simulated wind …
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Method to Develop a Control System for a Stable and Guidable Hybrid Projectile
… were done using the Six Degree of Freedom (6DoF) system in Simulink. A cruciform tail section was utilized so that the HP could be statically and dynamically stable. The simulation showed that the method devised was able to guide a 40 mm HP up to 6250 projectile diameters off of the line of …
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Autonomous UAV Navigation using Millimeter Wave Radar
… path planning to achieve high accuracy, 6DOF, online localization. By generating a localization precision score map from known anchor deployments, the system jointly optimizes travel distance and localization performance. We implemented and evaluated MilliNavigator on a drone built with …
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Optimal self assembly of modular manipulators with active and passive modules
… one rigid bar coordinate to self-assemble into a 6DOF manipulator. We then demonstrate cooperative algorithms for forward and inverse kinematics, grasping, and mobility with this arm.
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Achieving broad access to satellite control research with zero robotics
… interface for controlling 6 degree-of-freedom (6DOF) satellites is presented, along with a lightweight supervisory control law to prevent collisions between satellites without user action. This work also contributes a new form of student robotics competition, including the unique features of …
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Boost through reentry trajectory planning for maneuvering reentry vehicles
… is used with a six degrees-of-freedom (6DOF) vehicle model to provide a quantitative assessment of the limiting capabilities of the vehicle flight subject to complex terminal and path constraints. Particular constraints of interest include energy management, max g's, heating rate, final …
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