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 10 of 10 for “"planar motion"”.
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Planar Motion and Visual Odometry: Pose Estimation from Homographies
This thesis concerns ego-motion and pose estimation of a single camera under the assumptions of planar motion and constant internal camera parameters. Planar motion is common for cameras mounted onto mobile robots, particularly in indoor scenarios, as they remain at a constant height above the …
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Virtual Planar Motion Mechanism Testing of 8:1 Spheroids
… damping coefficients used in the equations of motion of a vehicle by attempting to decouple the forces on a body due to velocity and acceleration as a result of creating "hydrodynamically pure" velocities and accelerations. This makes it possible to use quasi-steady state models with terms …
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Maneuvering of slender X-fin AUVs with hydrodynamic derivatives informed through CFD
… These captive maneuvers are refereed to as planar motion mechanisms (PMM), and when simulated through CFD are refereed to as virtual planar motion mechanisms (VPMM). The results from VPMM are used to determine the hydrodynamic derivatives that inform the LPM. There was some inconsistency in …
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Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
… these models is used in the development of three planar (motion only in the sagittal plane) control algorithms. The first uses simple strategies to control the robot to walk. The second exploits the natural dynamics of a kneecap, compliant ankle, and passive swing-leg. The third achieves fast …
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Ensemble control of robotic systems
… wheel size, and the plate-ball manipulator is a planar motion stage that uses magnetic actuation to orient a sphere of unknown radius. We conclude by showing how the same framework can be applied to feedback control of multi-robot systems under the constraint that every robot receives exactly the …
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Control of a flexible space robot tracking a moving target
… to dock smoothly with an orbiting target whose motion is either known or not known a priori. The dynamical equations for planar motion of the space robot are derived by means of Lagrange’s equations. They are then separated into two sets of equations suitable for rigid-body maneuver control …
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The design of adjustable spherical mechanisms using plane-to-sphere and sphere-to-plane projections
… makes them quite effective and practical in motion path and function generation applications requiring spherical rigid body kinematics. Although there are design methods available for spherical mechanisms, most of these methods do not consider the design of a single adjustable spherical …
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CFD-informed Lumped Parameter Models Result In High-Fidelity Maneuvering Predictions of AUVs
Recent developments in autonomous underwater vehicles (AUV) have created the need for a low cost AUV that is comparable in class and payload capabilities to existing, commercially available, expensive and sub-optimal crafts. The Navy is active in research of autonomous, unmanned, highly efficient, …
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Hydrodynamic added mass determination and attitude estimation of the Seahog - a remotely-operated underwater vehicle
… When a vehicle is undergoing an unsteady motion underwater, extra resistance is experienced by the vehicle. This resistance differs to the drag forces as it is independent of the vehicle’s relative velocity. This resistive force is known as the added mass. Added mass covers both the …