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 21 for “"SE(3)"”.
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Robust Spacecraft Autonomy for Deep Space Exploration in Special Euclidean Group SE(3)
… missions reached the Moon. However, that is set to change. As of this writing, the Artemis II mission is gearing up to launch, carrying astronauts further from Earth than ever before. This milestone alone is a significant achievement, but the ambitious goals of the Artemis program and the …
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Optimal control problems on lie groups with symmetry breaking cost functions
… Pontryagin's maximum principle allows us to search for local solutions of the optimal control problem by studying an associated Hamiltonian dynamical system. When the associated Hamiltonian function possess symmetries, we can often study the Hamiltonian system in a vector space whose …
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Rare events and dynamics in non-equilibrium systems
… In particular, we study the transition path ensemble (TPE), the set of transition paths between meta-stable states of Ito diffusions. In the limit of vanishing diffusivity, the Freidlin-Wentzell action characterises the asymptotics of the path-probability distribution over the TPE. We develop …
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Investigation of the suitability of amorphous semiconductors as sensors for optical process tomography
In this work, the suitability of amorphous semiconductors as hard field optical sensors for application in optical process tomography (OPT) has been established. Two amorphous semiconductors were selected for the study, these being amorphous arsenic triselenide (a-As 2 Se3) and hydrogenated …
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Long-term Object-based SLAM in Low-dynamic Environments
… within the same environment, such as household cleaning and object retrieval. In a changing world, robots should always locate themselves and their targets while maintaining an updated environment map. Traditional SLAM relies on static geometric primitives from observations, lacking …
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Motion Coordination of Aerial Vehicles
… in the control community. This thesis addresses two topics related to the control of a group of aerial vehicles: the output feedback attitude synchronization of rigid bodies and the formation control of Unmanned Aerial Vehicles (UAVs) capable of Vertical Take-Off and Landing (VTOL). The …
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NDF-Based API for Human-assisted Language Planning (HaLP)
Recent works have show the promise of LLMs for generalizable task planning. Challenges in integrating LLM for high-level planning include outputting infeasible or sub-optimal plans, but the potentials include cultural commonsense to reason about high-level tasks on par with a human. Related works …
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Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
<p>In the first part of this dissertation, we consider tracking control of underactuated systems on the tangent bundle of the six-dimensional Lie group of rigid body motions, SE(3). We formulate both asymptotically and finite-time stable tracking control schemes for underactuated rigid bodies that …
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High-Dimensional Design Evaluations For Self-Aligning Geometries
Physical connectors with self-aligning geometry aid in the docking process for many robotic and automatic control systems such as robotic self-reconfiguration and air-to-air refueling. This self-aligning geometry provides a wider range of acceptable error tolerance in relative pose between the two …
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Rigid Body Constrained Motion Optimization and Control on Lie Groups and Their Tangent Bundles
… and the space of quaternions H, are commonly used to represent attitude. When considering rigid body pose, that is spacecraft position and attitude, the special Euclidean group SE(3) and the space of dual quaternions DH are frequently utilized. All these groups are Lie groups and Riemannian …
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Constrained Motion Analysis and Control of Spacecraft Asteroid Hovering with Formulation Extension in Geometric Mechanics Framework
… results in the minimum required control response due to its basis on the UK equation. The parameters are successfully estimated using a finite-time estimation method.</p> <p>Furthermore, the extension of the UK formulation into the geometric mechanics framework is developed to account for …
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Trajectory Generation for a Multibody Robotic System: Modern Methods Based on Product of Exponentials
<p>This work presents several trajectory generation algorithms for multibody robotic systems based on the Product of Exponentials (PoE) formulation, also known as screw theory. A PoE formulation is first developed to model the kinematics and dynamics of a multibody robotic manipulator (Sawyer …
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Ab initio simulation and optimization of phonon drag effect for lower-temperature thermoelectric energy
… years, extensive efforts have been devoted to searching for materials with high thermoelectric (TE) efficiency above room temperature for converting heat into electricity. These efforts have led to significant advances with a record-high zT above 2. However, the pursuit of higher TE performance …
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Representation Learning for Grounding Vision and Language in Hierarchical Robot Planning
The objective of the thesis is to enhance representation learning for grounding vision and language in hierarchical robot planning, aiming to improve the full autonomy and robustness of robot systems for indoor household activities. Autonomous robots interact with local operational environments by …
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Robust Adaptive Rigid Body State and Mass Property Estimation Via Unscented Kalman Filter on TSE(3) with Process Noise Estimation
… of mass properties of a spacecraft is essential for future astronautical missions, as changes in the mass properties of a spacecraft due to a shift in cargo distribution often require a careful and costly recalculation to ensure applied control inputs produce the desired results. As …
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Evaluación de complejos enzimáticos en alimentación de pollos de engorde
… digestivos de pollos de engorde. Asimismo se ha estudiado la variación de la respuesta a la suplementación enzimática(SE) en función de otros factores tales como el periodo de ayuno posterior al nacimiento, el procesamiento termico del cereal, el tipo de cereal utilizado y la edad de las …
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Spatial reasoning for computer aided design, manufacturing and process planning
… and process planning. This work addresses these tasks by producing a centralized server for static and dynamic geometric reasoning. Static reasoning involves geometric algorithms with fully and consistently defined entities. The algorithms include (i) constructive queries (intersection, …
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Development of a Hierarchical Reflexive Control Framework for Autonomous Robotic Manipulation
Within the field of robotic manipulation, much research focus has been placed on improving perception and planning algorithms, assuming that the actions output by these high-level planners will be easily achieved by the robot systems. However, to surpass human manipulation performance, fast and …
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Solar Sailing Adaptive Control Around the Earth-Moon Lagrange Point L4 for Stellar Observations
… reconnection, a solar sailing approach is proposed to separately capture lunar occultations and observe the solar corona from L<sub>4</sub> of the Earth-Moon system. Single and multiple shooting techniques are described along with a pseudo arc-length continuation method for preliminary orbit …
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Ecology of wintering Canada geese in the greater Chicago metropolitan area
Canada geese (Branta canadensis) breed in subarctic and temperate areas of North America, but both populations typically winter in temperate regions of the northern United States. During winter, Canada geese are increasingly using urban areas, but data are lacking on habitat use and selection, …
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