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 18 of 18 for “"constrained motion"”.
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Constrained Motion Analysis of Spacecraft Trajectory in Restricted Three Body Problem
… the Udwadia-Kalaba (UK) formulation of constrained dynamics as applied to the restricted three-body problem of the Sun-Earth-Spacecraft. A dynamic model of the restricted three-body system is presented to analyze the unconstrained motion of spacecraft. The results show the instability …
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Foundations of the Geometric Mechanics Udwadia-Kalaba Framework for Rigid Body Constrained Motion Analysis
<p>Presented herein are multiple tools for constrained motion analysis extended to different dynamical frameworks. The Udwadia-Kalaba (UK) formalism for the constrained motion analysis of a point mass is a well-documented and applied methodology. Here, UK formulation is generalized to the dynamics …
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Rigid Body Constrained Motion Optimization and Control on Lie Groups and Their Tangent Bundles
<p>Rigid body motion requires formulations where rotational and translational motion are accounted for appropriately. Two Lie groups, the special orthogonal group SO(3) and the space of quaternions H, are commonly used to represent attitude. When considering rigid body pose, that is spacecraft …
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Fuel Efficient Control Design and Constrained Motion Analysis for Spacecraft Coulomb Formation in Elliptic Chief Orbits
… obtained using the Udwadia-Kalaba equations for constrained motion. Due to the effects of plasma shielding, a Debye length model is incorporated in the nonlinear dynamics as a linear function of altitude of the formation's center of mass. The integrated thruster efforts are calculated for both …
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Constrained Motion Analysis and Control of Spacecraft Asteroid Hovering with Formulation Extension in Geometric Mechanics Framework
<p>This thesis studies the constrained motion for a spacecraft hovering over an asteroid, where the Udwadia-Kalaba (UK) formulation is applied for nominal control, and an adaptive controller is developed to account for unknowns in the dynamics. Then, the formulation is extended in the geometric …
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Active Keyframe Learning (AKL): Learning Interaction and Constraint Keyframes from a Single Demonstration of a Task
… that maximizes the flexibility given to a motion planner by learning the human intent for demonstrated constrained motion online and performing interaction-based and constraint-based segmentation offline. We conduct a user study to evaluate the keyframe, pose, constraint accuracies, …
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COMPLIANT END-EFFECTOR COUPLING FOR ROBOTIC ASSEMBLY
… as position control. Examples of such tasks are constrained motion, and tasks associated with touch or feel in fine assembly. Few compliance related tasks have been automated and is usually by means of active compliance control. The need for passive compliance offered by the manipulator itself …
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DNA Origami Mechanisms and Machines
… of nanoscale kinematic joints with specific constrained motion. The revolute joint design was integrated into a DNA origami Bennett 4-bar mechanism. This mechanism has a 3D motion path that is specified by the dimensions of the links and the arrangement of the hinges. The motion of the DNA …
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Real-time predictive modeling and robust avoidance of pedestrians with uncertain, changing intentions
… and pedestrians tend to exhibit a common set of motion patterns. The challenges are therefore to learn these motion patterns such that they can be used to predict future trajectories, and to plan safe paths that incorporate these predictions. This thesis considers the modeling and robust …
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A Dynamic Primitives Hypothesis: a Descriptive Model of Human Physical Interaction
… simultaneous regulation of both force and motion. For example, even a task as simple as opening a door presents a challenge to the development of prosthetics, exoskeletons, and human-robot interaction. Motor neuroscience has reported systematic patterns of motion during free reaching and …
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High-Speed Vision and Force Feedback for Motion-Controlled Industrial Manipulators
… to control the contact forces and the sliding motions of the pressure foot, which would otherwise occur during the drilling phase. Basic methods for feature-based tracking and servoing are presented, together with an extension for constrained motion estimation based on a dual quaternion pose …
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Intent-aware collision avoidance for autonomous marine vehicles
… of this protocol can lead to a highly constrained motion planning problem, in which it is difficult for a vehicle to identify a safe and efficient motion plan. This thesis proposes a multi-objective optimization-based method for COLREGS-compliant autonomous surface vehicle collision …
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Application of Product Design Concepts and Hybrid System Dynamics to Demonstrate Zeno Behavior and Zeno Periodic Orbits in a Physical Double Pendulum Setup
… We begin by formally demonstrating that the ?constrained? double pendulum model displays Zeno behavior and complete this Zeno hybrid system to allow for solutions to be carried past the Zeno point. The end result is periods of unconstrained and constrained motions in the pendulum, with …
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Learning to Make Decisions in Robotic Manipulation
… the robot conducts day-to-day, the execution of motion plans need to ensure the safety of surrounding objects and humans. Second, to handle new tasks that some customers might occasionally demand, robots need to be able to learn novel tasks efficiently with a minimal amount of human supervision. …
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Nonlinear vibration energy harvesting : fundamental limits, robustness issues, and practical approaches
… two cases of damping-dominated and displacement-constrained motion. Stemming from the study of fundamental limits, we present an almost-universal strategy termed buy-low-sell-high (BLSH) to maximize the harvested energy for a wide range of set-ups and excitation statistics. We further propose two …