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 4 of 4 for “"Internal Actuation"”.
-
Smart deployable space structures
… which are each able to alter their volume due to internal pressure change. By coordinated cell actuation in a specific pattern, the global structure can be deformed to obtain a desired shape. A multibody code was developed which constantly solves the equation of motion with inputs from internal …
-
Modular Modification of a Buoyant AUV for Low-Speed Operation
Conventional streamlined autonomous underwater vehicles (AUVs) with a single thruster and stern planes are typically trimmed to be somewhat buoyant or heavy in water. To maintain depth, they must generate a constant hydrodynamic force which requires that they swim at a constant pitch angle. …
-
The development of Zero-G class underwater robots: unrestricted attitude control using control moment gyros
… control. A novel control scheme based on internal actuation using Control Moment Gyros (CMGs) is proposed to provide Zero-G Class Autonomous Underwater Vehicles (AUVs) with this unique freedom in control.<br/><br/>The equations of motion for a CMG actuated underwater robot are derived and …
-
A Self-Sustaining, Boundary-Layer-Adapted System for Terrain Exploration and Environmental Sampling
This thesis describes the preliminary design of a system for remote terrain exploration and environmental sampling on worlds with dense atmospheres. The motivation for the system is to provide a platform for long-term scientific studies of these celestial bodies. The proposed system consists of …