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.
Results
Showing 1 to 20 of 25 for “"High-level Control"”.
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High-level control of agent-based crowds by means of general constraints
… complex group behaviour but leads to problems in controlling the crowds. Due to interaction between crowd members, the link between the behaviour of the individual and that of the whole crowd is not obvious. The control of a crowd’s behaviour is, therefore time consuming and frustrating, as …
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Optimal path planning and high level control of an autonomous gliding underwater vehicle
… ocean, where regions of shallow water and high current are prevalent. Long the domain of remotely operated vehicles and, more recently, autonomous propeller-driven vehicles, glider vehicles are being designed and tested for these conditions. These vehicles face special problems in these …
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An investigation and development of high level control engineering training packages for higher education and industry
… pedagogical approaches for teaching in Higher Education (HE) in Science, Technology, Engineering and Mathematics (STEM), using Control Engineering as a case study. Five objectives directed the study: first, it examined tutors' understanding of integrated technology to pedagogy and …
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Dynamic Obstacle Avoidance on a Self-balancing Robot Platform
… often involve a human operator that has some high level control over the system. This can lead to situations where the human operator believes that the system is safe, when this might not be the case. This is why robust control algorithms need to be implemented that provide safety guarantees …
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FlexSEA : flexible, scalable electronics architecture for wearable robotic applications
… hardware and software for precise motion control, data acquisition, and networking. Scalability is obtained through the use of fast industrial communication protocols between the modules, and the standardization of the peripheral interfaces. Hardware and software encapsulation is used to …
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Permanent Magnet Synchronous Motors: Nonlinear Dynamic Modeling, Hardware Characterization, and High-Bandwidth Torque Control for Applications in Dynamic Robotics
The high-level control algorithms that are responsible for achieving dynamic locomotion in legged robots depend on accurate torque production for matching real-life performance with simulated performance. To achieve accurate torque production, actuators must run high-bandwidth, low-level torque …
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Human robotic swarm interaction using an artificial physics approach
… physics framework to provide centralized control of a collection of agents in close proximity to a human operator. Based on the spatial separation between agents, agents to way-point, and agents to operator, the artificial physics framework calculates virtual forces that are summed and …
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Vision-based guidance and control of a hovering vehicle in unknown environments
… and results of a system capable of controlling and guiding a hovering vehicle in unknown environments, emphasizing cluttered indoor spaces. Six-axis inertial data and a low-resolution onboard camera yield sufficient information for image processing, Kalman filtering, and novel …
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Multi-level Control Architecture and Energy Efficient Docking for Cooperative Unmanned Air Vehicles
… efforts. One of the newest classes of UAV is the high altitude long endurance or HALE UAV. This thesis considers the high-level control problem for a unique HALE mission involving cooperative solar powered UAVs. Specifically addressed is energy efficient path planning for vehicles that physically …
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Personalized Voice Activated Grasping System for a Robotic Exoskeleton Glove
Controlling an exoskeleton glove with a highly efficient human-machine interface (HMI), while accurately applying force to each joint remains a hot topic. This paper proposes a fast, secure, accurate, and portable solution to control an exoskeleton glove. This state of the art solution includes …
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Highly parallelized control programming methodologies using multicore CPU and FPGA for highly dynamic multi-DoF mobile robots, applied to the MIT Cheetah
This thesis presents highly parallelized control programming methodologies developed for multi-degrees of freedom (DoF) robots capable of highly dynamic movements. In robotic applications that require rapid physical interactions with the environment, it is critical for the robot to achieve a …
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Experimental Verification and Integration of a Next Generation Smart Power Management System
… to curtail grid energy usage when the price is high. The SGPN high level control features an advanced modular algorithm that incorporates weather data for projected PV generation, battery health monitoring algorithms, user preferences for load prioritization within the home in case of an outage, …
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StarVis : a configural decision support tool for schedule management of multiple unmanned aerial vehicles
… simultaneously supervising multiple UAVs in high-level control tasks. These time-critical, single-operator systems will require advance prediction and mitigation of schedule problems to ensure mission success. However, actions taken to address current schedule problems may create more severe …
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Plug-in Hybrid Electric Vehicle Supervisory Control Strategy Considerations for Engine Exhaust Emissions and Fuel Use
… a charge sustaining supervisory (torque split) control strategy as well as an engine and catalyst warm-up strategy for a Split Parallel Architecture Extended-Range Electric Vehicle (SPA E-REV) is accomplished through empirically and experimentally measuring vehicle tailpipe emissions and energy …
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Modeling and optimization of energy storage system for microgrid
… of plant including system and environmental controls. The proposed model includes the circulation pumps and the HVAC system that regulates the environment of the VRB enclosure. In this paper, the VRB model is extended to include the ESS environmental controls to provide a model that provides …
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Design and Teleoperative Control of Humanoid Robot Upper Body for Task-driven Assistance
… be a focus towards eliminating the direct human control and replacing it with higher level autonomy. Further, advancements in electronics and electromechanical components will reduce the cost and makes the assistive robotics accessible to the masses. This thesis focuses on robotic teleoperation …
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Design and control of an origami-enabled soft crawling autonomous robot (OSCAR)
… mobile robots offer unique benefits as they are highly adaptable to the terrain of travel and safe for interaction with humans. However, the lack of autonomy currently limits their practical applications. Autonomous navigation has been well studied for conventional rigid-bodied robots; however, …
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Building and controlling fluidically actuated soft robots : from open loop to model-based control
This thesis describes the creation and control of soft robots made of deformable elastomer materials and powered by fluidics. We embed soft fluidic actuators into self-contained soft robotic systems, such as fish for underwater exploration or soft arms for dynamic manipulation. We present models …
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Intelligent control and path planning for unmanned aerial vehicles
Along with high-tech advances, unmanned aerial vehicles (UAVs) or drones are becoming popular in modern life. This technological trend will be expedited with UAVs being smartly employed in numerous human activities owing to the increasing advancement of learning systems. Their application also …
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… will require major advances in humanoid control, enabling robots to traverse difficult, cluttered terrain with both speed and stability. To advance the state of the art, this dissertation presents a complete dynamic locomotion and whole-body control framework for compliant …
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