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 14 of 14 for “"body-fixed"”.
-
Maneuver analysis for spinning thrusting spacecraft and spinning tethered spacecraft
… and center-of-mass offset create undesired body-fixed torques. The effects of the body-fixed torques, which in turn cause velocity pointing errors, can be reduced by ramping up (and then ramping down) the thruster. The first topic discussed in this thesis derives closed-form solutions for …
-
The Pseudo-Rigid-Body Model for Dynamic Predictions of Macro and Micro Compliant Mechanisms
… of compliant mechanisms using the Pseudo-Rigid-Body model (PRBM). In order to improve the number of mechanisms that can be modeled, this research develops and identifies several key concepts in the behavior of beam segments where both ends are fixed to a rigid body (fixed-fixed flexible …
-
Gait Analysis for Pedestrian Navigation Using MEMS Handheld Devices
… pedestrian navigation are mainly focused on the body fixed sensor case. In this thesis, algorithms for characterizing the gait cycle of a pedestrian holding an IMU (Inertial Measurement Unit) in hand are proposed but without constraining the user in its behaviour and thus taking into account …
-
Discrete-time Stable Geometric Controller and Observer Designs for Unmanned Vehicles
… 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 have one translational and three rotational degrees of freedom actuated, in discrete time. Rigorous stability …
-
Optimal docking to tumbling objects with uncertain properties
… Chaser satellite to a passively tumbling, rigid-body Target. The terminal approach is characterized by the Chaser starting at an initial position several meters away from the Target and aligned with the Target's docking port. It then initializes its inward motion relative to the Target to …
-
"Vector chromatography" : modeling micropatterned separation devices
… forces oriented asymmetrically relative to the body-fixed pattern. In the generic "vector" separation scheme, illustrated by our elementary example, the different species undergoing separation move, on average, in different directions relative to pattern-fixed axes, whence their chromatographic …
-
Quantifying the Response of Relative Brain/Skull Motion to Rotational Input in the PMHS Head
… of the brain was calculated with respect to a body-fixed basis on the skull. The relative motion of the brain with respect to the skull was shown to be dependent on the location of the target in the brain. The major deformation axis of each target followed the contour of the skull or bony …
-
Adaptive Control Combined with Integral Concurrent Learning for Trajectory Tracking Near Asteroids
… in both inertial and uniformly rotating body-fixed frames, introducing the concept of effective potential. Equilibrium points are then computed from this effective potential, and their stability is assessed via Lyapunov’s direct method. To fully understand the dynamics in the vicinity of …
-
Nonlinear Control for Dual Quaternion Systems
… research is to study the full 6 DOF of rigid body motion together, developing control algorithms that will affect both rotation and translation simultaneously. This will prove especially beneficial in complex systems in the aerospace and robotics area where translational motion and rotational …
-
Autonomous driving control strategies for multi-trailer articulated heavy vehicles with active safety system
… It also takes benefits of the vehicle units’ body-fixed reference frames for lateral deviation calculations to mimic the driver’s local perception of vehicle position and reference path. If the so-called driver neuromuscular delay is set to zero, the driver model may perform as an autonomous …
-
Spektroskopie der Oktupolkorrelationen von 231Pa und 229Pa mit adaptierten Koinzidenzteilchendetektorsystemen
… constant density of positive space-charge in a body-fixed frame of reference. Experimental observations can be interpreted as deviations from spherical symmetry of the nucleus. Static shapes of nuclei in the periodic table near the valley of stability predominantly are rotationally symmetric and …
-
Applications of Data-Driven Learning Models in Fluid Mechanics: Solid-Fluid Multiphase Systems and Bat Flight
… models to map bat wing kinematics in the body-fixed or local frame to its global trajectory and vice versa, offering insights that could inform the design of bio-inspired flapping-wing unmanned aerial vehicles (UAVs). Together, these studies contribute to advancing computational methods …
-
Smart Technology for Telerehabilitation: A Smart Device Inertial-sensing Method for Gait Analysis
… among approaches (including the numbers of body-fixed sensors and sensor locations) to obtain useful data to analyze human movement. From an end-user’s perspective, reducing the amount of sensors to one instrument that is attached to a single location on the body would greatly simplify the …
-
Measurement of aerodynamic characteristics of MAVs using motion tracking
… to help better understand the behavior of fixed-wing MAVs. In the current research, aerodynamic and stability characteristics of two MAVs were measured using a motion tracking system. Both the aircraft position and propeller rotation were tracked. The aircraft used were flat foam surface, …