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 51 for “"Holonomic"”.
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Distributed Target Detection and Coverage for Holonomic UAVs
This thesis implements a novel distributed, deterministic algorithm for as few unmanned agents as possible to detect and cover as many static targets of unknown location as possible. This algorithm, Pruning-Perception-Decision (PPD), strikes the balance of exploration versus exploitation by …
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Holonomic Elastoplastic Truss Design Using Displacement Based Optimization
… such problem. Various truss sizing problems with holonomic (path-independent) elastoplastic laws were investigated. This type of material nonlinearity allows us to naturally extend the linear elastic truss sizing in the DBO setting to nonlinear problems. A computer program that uses the …
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Homomorphisms of semi-holonomic verma modules : an exceptional case.
… look at a variation of Verma modules called semiholonomic Verma modules, introduced by Eastwood and Slovák. They have studied the conformal case in detail, but here we will investigate instead the exceptional case of G = E₆. We will investigate when a Verma module homomorphism lifts to a …
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Improving Controllers for Formations and Deconfliction among Non-holonomic Vehicles
… for simulating formations of systems with non-holonomic motion constraints inspired by solutions in robotics. The geometric reasoning takes place in curvilinear coordinates, which are defined by the curvature of the leaders reference trajectory, in order to directly satisfy the constraints, …
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Dynamics-based control of a mobile robot with non-holonomic constraints.
The development of a planetary rover for use on the moon or on Mars has generated further interest in autonomous vehicles which are capable of moving through a complicated terrain with minimal supervision. One approach for enhancing autonomy is a dynamics based controller which could ensure motion …
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State estimation for a holonomic omniwheel robot using a particle filter
The holonomic robot platform designed for the Opera of the Future must perform continuously on stage in a 10 meter by 20 meter world for one hour. The robot interacts with twelve other robots, stage elements, and human performers. Fast, accurate, and continuous state estimation for robot pose is a …
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Force guided docking control of an omnidirectional holonomic vehicle and its application to wheelchairs
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1997.
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Variational formulations and numerical analysis of some problems in small strain elastoplasticity
… The first problem, which we call the incremental holonomic problem, is based on a consistent incremental holonomic constitutive law, which in turn derives from the notion of extremal paths in stress and strain space as originally proposed by PONTER & MARTIN (1972); the second problem which we …
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Deformation theory analysis of a dynamically loaded rigid-plastic cantilever
… they considered they had replaced the usual non-holonomic viscous rigid-plastic relation by a holonomic deformation theory or non-linear elastic relation. This interpretation can be made because Taya and Mura did not consider any applications in which unloading took place.
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ΕΦΑΡΜΟΓΗ ΤΩΝ ΜΕΘΟΔΩΝ ΤΟΥ ΤΕΤΡΑΓΩΝΙΚΟΥ ΠΡΟΓΡΑΜΜΑΤΙΣΜΟΥ ΣΤΑ ΠΡΟΒΛΗΜΑΤΑ ΤΗΣ ΘΕΩΡΙΑΣ ΠΛΑΣΤΙΚΟΤΗΤΑΣ
… THE THEORY OF PLASTICITY IN THEIR INCREMENTALAND HOLONOMIC FORMULATION, BOTH AS MECHANICAL PROBLEMS WHOSE SOLUTION IS SOUGHT AND AS FREE BOUNDARY PROBLEMS BETWEEN ELASTICITY AND PLASTICITY. FIRST THE ALGORITHM OF H. THEIL AND C. VAN DE PANNE HAS BEEN STUDIED. WITH THE DIFFERENCE THAT IT HAS NOT …
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Force-Canceling Mixer Algorithm for Vehicles with Fully-Articulated Radially Symmetric Thruster Arrays
<p>A new type of fully-holonomic aerial vehicle is identified and developed that can optionally utilize automatic cancellation of excessive thruster forces to maintain precise control despite little or no throttle authority. After defining the physical attributes of the new vehicle, a flight …
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Representation theory of the global Cherednik algebra
… algebras. We relate characterizations of holonomic modules in terms of singular support and Gelfand-Kirillov dimension. We study pullback, pushforward, and dual on the derived category of (holonomic) Cherednik modules for certain classes of maps between varieties. We prove, in the case of …
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Sample-based motion planning in high-dimensional and differentially-constrained systems
… are particularly challenging in systems with non-holonomic and underactuated dynamics. This thesis develops two intelligent sampling strategies to help guide the search process. To reduce sensitivity to dimension, sampling can be done in a low-dimensional task space rather than in the …
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Optimizing Non-Convex Objectives to Plan More Optimal Motion for Manipulators
… scheme with full-body motion planning for non-holonomic mobile manipulators. Our key contribution is a Differential Inverse Kinematics (DiffIK) formulation that crafts non-convex objectives to avoid singularities and joint limits leading to more robust feasible motion. Unlike before, the …
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Arithmetical, geometrical, and categorical forays into particle physics
… for the study of Goldstone bosons. We take holonomic constraints as our starting point giving them a categoric construction. The dual of this construction leads to a new type of constraint we call a coholonomic constraint. Coholonomic constraints like holonomic ones, are equivalent to …
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Open loop aspects of two-wheeled vehicle stability characteristics
… vehicle behavior. Kinematic coupling and non-holonomic constraints make it difficult to address the two wheeled vehicle stability problem on an analytical basis. Development of tools that facilitate the analytical study of complex dynamic systems and their application to a motorcycle model are …
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Efficient nearest-neighbor search algorithms for sub-Riemannian geometries
… unconstrained motions, commonly referred to as holonomic.
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A perception-guided approach to motion and manipulation planning
… for motion and manipulation planning under non-holonomic constraints. However, the conventional RRT algorithm may perform poorly in the presence of noise and uncertainty. This thesis proposes a modified form of the algorithm that seeks to reduce the robot's uncertainty in its estimate of the …
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Development of an Apparatus and Testing Strategy for Characterizing Rolling Resistance of Omnidirectional Wheels
… and lateral motion, making them suitable for holonomic motion applications. In recent years, their popularity has grown substantially in areas such as educational robotics, autonomous vehicles, and industrial automation. Despite their similarity to caster wheels in both function and …
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Global Formulation and Control of a Class of Nonholonomic Systems
<p>This thesis study motion of a class of non-holonomic systems using geometric mechanics, that provide us an efficient way to formulate and analyze the dynamics and their temporal evolution on the configuration manifold. The kinematics equations of the system, viewed as a rigid body, are …
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