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 20 of 22 for “"Trajectory following"”.
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Design and implementation of the state estimator for trajectory following of an electromagnetic formation flight testbed
… force is a su±cient control actuator for a trajectory following mission with a new state estimator designed for the mission. Firstly, the vehicle of the testbed is categorized into three subsystems of °ight computer, actuator, and measurement system, each of which is described in detail. …
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System identification and state reconstruction for autonomous navigation of an underwater vehicle in an acoustic net
… designs of a state estimator and controller for trajectory following by the vehicle. The algorithms are initially evaluated in a numerical simulation. Tests are made for stability, trajectory following performance, and accuracy of the state estimator under varying system and environmental …
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Efficient Connectivity Maintenance For Distributed Robotic Systems
… and evaluate their performance on tasks such as trajectory following and multi-agent search. Finally we leverage these results to discuss the trade-offs between these algorithms for use cases with different priorities.
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A multi-loop guidance scheme using singular perturbation and linear quadratic regulator techniques simultaneously
… for a multi-loop mixed discrete/continuous trajectory following pitch control algorithm for a generic aerospace vehicle is presented. This design methodology is facilitated by a time scale separation observed in the dynamical system. Two variations of this algorithm are considered, with …
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Combined Mechanical and Command Design for Micro-Milling Machines
… existing micro-mills will lead to vibration and trajectory following problems. If a micro-mill cannot be positioned precisely, then part tolerances cannot be maintained. Thus any increase in throughput would be counterproductive in terms of overall performance. This dissertation presents …
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Performance Analysis Of Non-Linear Adaptive Control Laws Using Hardware in the Loop of an Unmanned Aerial System
… is dictated by how well it can follow a given trajectory with limited stress on the actuators. However, these can be insufficient performance metrics when the UAS is allowed to adapt to an unpredicted external influence such as turbulence or actuation failure, while maintaining a satisfactory …
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On-Board Artificial Intelligence for Failure Detection and Safe Trajectory Generation
… range of flight conditions. Adequate commanded trajectory generation and modification, as well as high-performance trajectory tracking control laws have been an essential focus of researchers given that integration into the National Air Space (NAS) is becoming a primary need. However, the …
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Long-term management and discounting of groundwater resources with a case study of KukioÌ HawaiiÌ
… system from initial conditions to the optimal trajectory. Following this initial spike of pumping, the exponential pumping solutions are constant over all time. The hyperbolic pumping solutions are more complex, time-dependent functions and they asymptotically approach the no-discounting …
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Vision-based guidance and control of a hovering vehicle in unknown environments
… and emulated inertial data for closed-loop trajectory following, environment mapping, and obstacle avoidance are presented and discussed.
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Control of mechanically stable movement by spinalized frogs
… of the movements was stable in that the ankle trajectory after perturbation moved to the final position of the unperturbed trajectory. Following deafferentation, wiping movements showed a similar, although weaker, recovery after perturbation. Thus the stability properties found during isometric …
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Vision-based context-aware assistance for minimally invasive surgery.
… for example, kinematic information or motion trajectory. Following the granularity of surgical activity in a top-down manner, we first propose an attention-based multi-task framework to assess the expertise level and evaluate six standards for surgeons with different skill level in three …
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Adaptive feedforward cancellation viewed from an oscillator amplitude control perspective
… can be used to significantly improve periodic trajectory following/disturbance rejection. Fast tool servos used in high-precision turning applications commonly follow periodic trajectories and develop large errors, which usually occur at integer harmonics of the fundamental spindle rotation …
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Robust trajectory planning for unmanned aerial vehicles in uncertain environments
… dramatically improved.This thesis develops a UAV trajectory planner to efficiently identify and execute trajectories which are robust to a complex, uncertain environment. This planner, named Efficient RSBK, integrates previous mixed-integer linear programming (MILP) path planning algorithms with …
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‘Harry Potter and the Transmedia Wizarding World’: Paratexts of the Harry Potter Franchise, 2011-17
… to understand their impact upon the franchise’s trajectory following the end of the Potter books (in 2007) and films (in 2011). As a piece of long-form analysis, the research represents a significant addition to scholarship on contemporary film franchising and Harry Potter more specifically. The …
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Position and vibration control of flexible space robots
… mission is to carry a payload over a prescribed trajectory in the inertial space, while suppressing the elastic vibration of the arms and the rigid-body perturbations. The equations of motion governing the robot dynamics are derived by means of Lagrangian mechanics and they include actuator …
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Stochastic adaptive estimation with applications to nonlinear control
… two examples, a set-point control example and a trajectory-following aircraft example. The above examples and algorithms were fully verified by extensive computer simulation. The implementation advantages afforded by these methods make them practical in a wide variety of applications.
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Design and Control of a Humanoid Robot, SAFFiR
… of physical hardware, digital controllers, and trajectory planning necessary to achieve the research goals of improving the locomotion capabilities of a humanoid robot. To improve the physical performance capabilities of the robot, this research will first focus on the interaction between the …
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Feeling Time Differently: Autistic Temporality, Self-Care Technologies & Social Imaginaries of the Good Life
… informed by my self-discovery and recovery trajectory following a formal autism diagnosis. My fieldwork is based on 32 in-depth semi-structured online interviews with highly abled autistic adults in the UK, a group whose struggles often remain obliterated by their perceived success. By …
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Human-Robot Interaction with Pose Estimation and Dual-Arm Manipulation Using Artificial Intelligence
… design and improves the performance of trajectory following. Traditional system modeling relies on first principles, simplifying assumptions and prior knowledge. Any imperfection in the above could lead to an analytical model that is different from the real system. Machine learning …
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Vascular Depression: An Early Indicator Of Decline
… representing a hypothesized late-life clinical trajectory following from high cerebrovascular burden. The hypothesized trajectory includes higher rates of depression (of vascular origin), cognitive decline, frailty and shortened remaining lifespan. Different facets of this model are tested in …
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