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 12 of 12 for “"Space Trajectories"”.
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Kinematic Modeling and Dynamic Aspects of an Accelerating Quadruped
… leg, both in the real spatial frames and phase space domains, as well as the angular rates required for these target manifolds. The parameterised inverse kinematics models were also able to generate smooth task space trajectories to within acceptable tolerances of the target position and for a …
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Trajectory Generation for a Multibody Robotic System: Modern Methods Based on Product of Exponentials
… method is applied to generate constrained joint-space trajectories corresponding to straight-line and curvilinear motions of the end effector in Cartesian space with finite jerk. The second approach describes Constant Screw Axis (CSA) trajectories which are generated using Machine Learning (ML) …
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Fast magnetic resonance spectroscopic imaging using RF coil arrays
… coils has opened opportunities for fast k-space encoding schemes that are already used in structural imaging. At the same time, receive-coil arrays using 4 and 23 channels have been developed and reported to produce improved SNR over conventional quadrature detection by single coils. Fast …
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Autonomous Dynamic Grasping with a Robotic Arm: Real-Time Motion Prediction and Adaptive Control
… its velocity, and generating tailored Cartesian-space trajectories to ensure the robot’s end-effector coincides with the object's position at the precise time required for successful grasping. The presented work addresses the development, optimization, and hardware implementation of a novel …
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Constraining the kinetically dominated Universe: Bayesian methods and primordial cosmology
… of kinetic dominance. To that end the phase-space trajectories for three representative in ationary potentials are inspected. Comparing di erent priors on the initial conditions of the trajectories, a signi cant fraction of trajectories are found to start out in a kinetically dominated stage. …
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Modeling and simulation of permanent on-orbit servicing infrastructures dedicated to modularized earth-orbiting platforms
… capable of capturing a much larger trade space of the WD infrastructure than the Simulink framework does. The Python framework considers more accurate models and includes much more OOS design features, such as the number of servicers, more efficient service dispatch strategies and new …
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Architecting Optimal (Space) Strategies: A Quantitative Framework
… Ukraine illuminated the strategic importance of space technology, making it clearly visible to nations around the globe. Space technology has become omnipresent over the past decades thanks to new technologies and lowered barriers of access to space as well as the expansion of services relying on …
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Cosmic Echoes of the Early Universe: From Primordial Black Holes to Gravitational Waves
… scalar fields and nonminimal couplings to the spacetime Ricci scalar—that could produce PBHs with masses in the range required to address the present-day dark matter abundance. In Chapter 3, we perform a Markov Chain Monte Carlo (MCMC) analysis of a simple yet generic multifield inflation model …
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Noise reduction during diffusion tensor imaging of infants
… noise, was also investigated. The altered k-space trajectories due to the modifications made to the EPI readout gradient waveforms were corrected through a custom one-dimensional regridding procedure applied along the frequency encoding axis in k-space. Noise reduction was measured with an …
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Modeling of Outer Radiation Belt Electron Scattering due to Spatial and Spectral Properties of ULF Waves
… phase can cause various patterns in phase space trajectories, i.e. local acceleration, and that for a global electron population, for all initial conditions accounted for, has a negligible net energy scattering. Working with GSM polar coordinates, the relevant wave field components are EL, …
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Validated global multiobjective optimization of trajectories in nonlinear dynamical systems
… for global multiobjective optimization of trajectories in continuous nonlinear dynamical systems that can provide rigorous, arbitrarily tight bounds on the objective values and state paths realized by (Pareto-)optimal trajectories. By controlling all sources of error, our resulting method …