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 23 for “"Servo Control"”.
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Hybrid Switched System Visual Servo Control
Furthermore, nonholonomic systems present a control task that is not suitable for a single, continuous feedback controller. Switched-system control of IBVS and PBVS systems offer the opportunity to use vision data in the closed loop control of a nonholonomic system. We present such a …
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Visual servo control on a humanoid robot
This thesis deals with the control of a humanoid robot based on visual servoing. It seeks to confer a degree of autonomy to the robot in the achievement of tasks such as reaching a desired position, tracking or/and grasping an object. The autonomy of humanoid robots is considered as crucial for the …
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Intelligent Visual Servo Control of an Air Hockey Playing Robot
… secondary tasks. The set of secondary objective controllers consists of criteria optimizing controllers and constraint satisfaction controllers. The system framework is seen to include both stability-based switching laws and heuristic switching rules, forming a solid foundation for intelligent …
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Robust Image-Based Visual Servo Control of an Uncertain Missile Airframe
… Lyapunov-based stability analysis, sliding mode control fundamentals, basics on visual servo control, and other basic nonlinear control tools. To develop the vision-based guidance law, projective geometric relationships are utilized to combine the image kinematics with the missile dynamics in an …
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Inductive position/velocity sensor design and servo control of linear motor
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.
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Servo-control of a pneumatic motion platform for use as a low cost simulator
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1997.
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Modeling the function of the cerebellum in scheduled linear servo control of simple horizontal planar arm movements
… anterior cerebellum mediate scheduled linear servo control of simple single-joint and two-joint arm movements. These models propose that the problem of stabilization in the presence of delays is handled by transmitting part of the feedback loop information as "wave variables". Wave variables …
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Digital Tracking Control for Machine Tool Feed Drives
… and reduces power waste due to friction. Servo controller design of those feed drives becomes more challenging due to dynamic interaction between the servo control and cutting process. A simplified end milling cutting process model is used in a structured singular value based uncertainty …
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Robust Repetitive Control and Its Application
… The design, modeling, analysis and preliminary control design of the dual stage actuator are presented. The experimental results are also presented to demonstrate the effectiveness of dual stage actuator. Finally, TPRRC is also applied to a disk drive read-write head following tracking servo …
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Stable, high-force, low-impedance robotic actuators for human-interactive machines
… of structural differences between interaction control and servo control, classical single-input, single-output control tools cannot be directly applied for design. Instead, a search method is used to select controller parameters for an assumed structure.
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Design and characterization of a compact voice coil for a needle-free injection device
… voice coil actuator as the pressure source. With servo-control, the applied pressure can be adjusted for injection conditions such as skin toughness and injection depth. The focus of this thesis was on designing, building and characterizing a more compact version of the current NFI device. The …
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Autonomous Visual Servo Robotic Capture of Non-cooperative Target
… and validates experimentally a vision-based control scheme for the autonomous capture of a non-cooperative target by robotic manipulators for active space debris removal and on-orbit servicing. It is focused on the final capture stage by robotic manipulators after the orbital rendezvous and …
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DEM [Discrete Element Method] simulations of drained and undrained behaviour
… drained and undrained conditions, using DEM A servo-control mode with constant mean stress is used to model drained simulations, and a strain-control model with constant volume is used to model undrained simulations. A periodic cell is used for all the simulations. For the drained simulations, …
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High throughput extrusion additive manufacturing – rate limits and system design
… 2) the mechanical design and construction of a servo-driven FFF testbed that uses a parallel H-frame belt drive; and 3) implementing closed-loop servo control with the aforementioned hardware and assessing axis-level motion performance and overall print quality using test artifacts. Performance …
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Controller Analysis and Synthesis for Wireless Servo Systems
This research develops models for servo control over wireless networks and assembles associated analysis and design tools to address many of the challenges posed by introducing the network. A communication framework utilizing hybrid timer-based sensing/actuation with event-based control is …
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Improving PID controller of motor shaft angular position by using genetic algorithm
… of PID parameters gain in model reference robust control system structure for desired position of incremental servomotor. Experiments had been took out via Lab-Volt 8063 Digital Servo system equipment at Servo Control Laboratory. The key issue for PID controllers is the accurate and efficient …
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Control visual de un vehiculo aereo autonomo usando deteccion y seguimiento de caracterısticas en espacios exteriores
… in most applications. We address the visual servoing problem for an Unmanned Aerial Vehicle (UAV) in outdoor environments, specifically an autonomous robotic helicopter. We propose vision-based techniques which allow an UAV to perform maneuvers towards features of interest when GPS has …
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Contact region fidelity, sensitivity, and control in roll-based soft lithography
… roll-based manufacturing platform allows precise control of the stamp contact region and the potential for large area, high rate surface patterning. In this manner, emerging devices can be produced economically, including flexible displays, distributed sensor networks, transparent conductors, and …
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The effect of nursing interventions on thermoregulation and neuromotor function in very low birthweight infants
… in VLBW infants nursed in incubators on infant servo control (ISC): and (2) use of a postural support roll (R) with or without a N would improve neuromotor development in the short and longer term. In Phase1 a sample of 23 infants < 31 weeks gestation nursed in incubators on ISC was recruited …
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