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 20 of 34 for “"multirotor"”.
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Component-based design optimization of multirotor aircraft
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2022-11-15 without embargo terms
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Multirotor UAS Sense and Avoid with Sensor Fusion
<p>In this thesis, the key concepts of independent autonomous Unmanned Aircraft Systems (UAS) are explored including obstacle detection, dynamic obstacle state estimation, and avoidance strategy. This area is explored in pursuit of determining the viability of UAS Sense and Avoid (SAA) in static …
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Performance characterization of the multirotor UAS chemical application system
… helicopters. A recent surge in battery-powered multirotor UAS has provided a cheaper, more reliable platform that is much simpler to operate. While chemical application systems have been developed for these platforms (mainly in China), fairly little data exists characterizing their performance …
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Adaptive Controller Development and Evaluation for a 6DOF Controllable Multirotor
… of controllers for various 6DOF controllable multirotors has been much more limited than development for quadrotors, which makes selecting a controller for a 6DOF multirotor difficult. The omnicopter is subject to various uncertainties and disturbances from hardware changes, structural …
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Simulation and Integration of a 6-DOF Controllable Multirotor Vehicle
The purpose of this thesis is to develop an existing design of a fully controllable multi-rotor vehicle toward simulating small satellite dynamics, enabling technology development to be accelerated and component failure risks to be mitigated by providing a testing platform with dynamics similar to …
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A modular simulation environment for the improved dynamic simulation of multirotor unmanned aerial vehicles
Multirotor unmanned aerial vehicles (UAVs) have gained immense popularity in both research and commercial applications due to their versatility and mechanical simplicity. However, despite these advantages, multirotor systems still constitute a considerable challenge in the design of powerful …
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Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy
… thesis focuses on the design of a fixed pitch multirotor UAV system for use in furthering research projects and facilitating payload data collection from a flying platform without the expense or risk of testing with available larger UAV systems. The design of a multirotor UAV system with a …
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Investigating Forward Flight Multirotor Wind Tunnel Testing in a 3-By 4-Foot Wind Tunnel
<p>Investigation of complex multirotor aerodynamic phenomena via wind tunnel experimentation is becoming extremely important with the rapid progress in advanced distributed propulsion VTOL concepts. Much of this experimentation is being performed in large, highly advanced tunnels. However, the …
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Deep Reinforcement Learning for Multirotor Flight Control: A Comparative Study of Sim-to-Real Training and Real-World Performance
… Learning (DRL) for low-level flight control of multirotor unmanned aerial vehicles (UAVs), focusing on factors that most influence sim-to-real policy transfer. Using the Proximal Policy Optimization (PPO) algorithm, extensive ablation studies evaluated the effects of domain randomization, reward …
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Tethered UAV Flight using a spherical position controller
… community has seen a rise in the popularity of multirotor unmanned aircraft. This increase in popularity is in part due to the ability of a multirotor aircraft to hover, its simple dynamics, and its mechanical simplicity. Operating these unmanned aircraft indoors or outdoors is a well understood …
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Sensing Atmospheric Winds from Quadrotor Motion
… methods to exploit the flight envelope of multirotor UAS for wind sensing. The parameters of three quadrotor motion models, consisting of a kinematic particle, a dynamic particle, and a dynamic rigid body models are developed to measure wind velocity in hovering flight. Wind tunnel and …
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Passivity-Based Control of Small Unmanned Aerial Systems
… energy-based control scheme is applied to both multirotor and fixed-wing aircraft}. Multirotor aircraft dynamics are cast into a port-Hamiltonian System and the concept of trajectory tracking using canonical feedback transformation is implemented to construct a cross-track controller. Fixed-wing …
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Linear Control of Unmanned Aerial Vehicles
… methodology aimed at achieving model-based multirotor flight control without the reliance on pre-existing analytical models. The Optimized Predictor-Based Subspace Identification (PBSIDopt) approach is employed on experimental flight data to capture both in-plane and vertical dynamics. The …
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Thesis Report for the Design and Qualification of a Modular Scientific Drone
… Modular Science Drone; an open source flexible multirotor design, intended to provide the high quality and easy user experience of consumer platforms in a form that enables advantageous tight integration of custom sensors with full access to necessary data and metadata capture process …
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An improved model-based observer for inertial navigation for quadrotors with low cost IMUs
… for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of reference---including along the z-axis of this frame---with …
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Empirical Evaluation of Ground, Ceiling, and Wall Effect for Small-Scale Rotorcraft
… model cannot be applied to today's multirotor UAVs. Experimental findings suggest that some of the conventional thinking surrounding helicopters cannot be applied directly to rotorcraft using fixed propellers at variable speeds (e.g. multirotors). A parametric multirotor-specific …
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Nonlinear Observers for Aircraft Maneuvering in Wind
… quasi-steady nonlinear flight dynamic model for multirotor aircraft is derived from blade-element and momentum theory, ensuring validity over a large operating range while remaining identifiable from flight data. The utility of this model is assessed through a high-fidelity simulation study based …
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Instrumentation and Control of a Ducted Fan Unmanned Aerial Vehicle in Hover Mode
… diameter when compared to the more commonly seen multirotor vehicles. This makes ducted fan UAVs very well suited for size-constrained missions such as indoor inspection or urban reconnaissance. However, the advantages of ducted fans come at the cost of complex nonlinear dynamics which present …
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