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 14 of 14 for “"motion dynamics"”.
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Optimal orbit transfers for satellite formation flying applications
… fuel-optimal trajectory, based on relative motion dynamics, and the necessary conditions from the Pontryagin Maximal Principle. Second, the dissertation derived sufficient conditions, verifying the optimality of the impulsive trajectories obtained in the first part. Third, the dissertation …
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Spacecraft Trajectory Planning for Optimal Observability using Angles-Only Navigation
… for spacecraft under constrained relative motion. The resulting contribution is a guidance method for impulsive rendezvous and proximity operations valid for elliptic orbits of arbitrary eccentricity.</p> <p>The system dynamics describe the relative motion of an arbitrary number of …
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Kinematic Modeling and Dynamic Aspects of an Accelerating Quadruped
… to the natural world for clues to aspects of motion dynamics and morphologies that may be incorporated in the design of these robots. The mimicking and transfer of these aspects of a live subject to a modern day robot is limited by the technologies available such as computational resources, …
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Single-particle tracking and fluorescence correlation spectroscopy for systems-level analysis of molecular dynamics in diverse biological systems
… biophysical level in living cells: analyzing the motion/dynamics of single molecules and complexes, which are small relative to the structures of the cell, in order to elucidate their molecular function and mechanism. The motion of these "particles" within living cells is necessarily related to …
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Dynamics and Control of Satellite Relative Motion: Designs and Applications
This dissertation proposes analytic tools for dynamics and control problems in the perspective of large-scale relative motion without perturbations. Specifically, we develop an exact and efficient analytic solution of satellite relative motion using a direct geometrical approach in spherical …
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Terrain aware tactical motion planning and control algorithms for off-road UGVs in GNSS denied hostile environments
… an advanced framework for terrain-aware tactical motion planning and control of off-road unmanned ground vehicles operating in environments where global navigation satellite systems are unavailable due to adversarial interference or structural constraints. The research focuses on enabling …
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Development of engineering tools to analyze and design flexible structures in open ocean environments
… wave and current forces, causing complex coupled motions and loads. This research focused on the development of effective methods to predict flexible system response and the structural integrity of marine High Density Polyethylene (HDPE) components. Numerical modeling tools were developed to …
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Robotic perception and manipulation in unstructured environments with partial observations
… handle geometric uncertainties in real-time. Motion Dynamics: Predicting how objects will move in response to robot actions is difficult in unstructured settings. This dissertation investigates techniques for modeling and adapting to these dynamics. The work on differentiable physics …
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Robust Multisensor-based Framework for Efficient Road Information Services
… road anomalies’ signatures from both the vehicle motion dynamics and the sensor noise. Various feature extraction techniques were used to identify several types of road anomalies. The constructed features were utilized in building datasets of these road anomalies. The datasets were leveraged to …
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Hydrodynamic excitation force estimation and forecasting for wave energy applications
… obtain a parametric model of both the force-to-motion dynamics and/or the radiation force convolution term of the device. The strategy allows for the identification of low-order parametric models of WECs, which will simplify the implementation of optimal control strategies in real-time. …
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The dynamics of ultrafast motion in biological and bio-inspired systems: the case study of click beetles
Some of the fastest and most extraordinary motions of the animal kingdom are generated by small animals to locomote, hunt, or escape predators. Mantis shrimps, trap-jaw ants, fleas, and click beetles can repeatedly achieve accelerations up to 106 m/s2. These animals generate such high accelerations …
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Impact of Robot Motions on User Interaction and Workload in Cooperative Assembly. Perceived Safety and Salience of Nearby Collaborative Robots in Human-Robot Working Cells
… the effects of robot behavior, especially motions, on the user in human-robot applications. When working in such an environment, the operator safety is paramount. Likewise, the user’s perceived safety is essential for well-being, minimizing fatigue effects and ultimately system …
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Autonomous Landing of an Unmanned Aerial Vehicle on an Unmanned Surface Vessel using Model Predictive Control with an Adaptive-Covariance Extended Kalman Filter
… Surface Vessel (USV) subjected to wave-induced motion. An innovative Adaptive-Covariance Extended Kalman Filter (AEKF) implementation was developed for the estimation of the 6 degree-of-freedom USV states using GPS and vision-based measurements of AprilTag markers on the USV landing platform. …
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From Oscillating Flat Plate to Maneuvering Bat Flight – Role of Kinematics, Aerodynamics, and Inertia
… the synergistic roles played by kinematics, aerodynamics, and inertia in flapping wing maneuvers, this thesis first investigates the plunging motion of a simple flat plate as it is a fundamental motion in the kinematics of many flying animals. A wide range of frequency (k) and amplitude (h) is …