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 20 of 34 for “"rigid-body dynamics"”.
-
Modeling of the human head/neck system using rigid body dynamics
… large vertical acceleration forces on the body of the member. The additional mass on the head due to Night Vision Goggles and Helmet Mounted Displays increases the vulnerability of the head/neck system to injury. To eliminate the need for human testing, computer simulations of biodynamic …
-
Analysis of a quadrotor in forward flight
… about hover conditions. This allows the dynamics of the vehicle to be linearized about a single equilibrium point. Additionally, aerodynamic effects can be neglected leaving only rigid body dynamics to be modeled. While this formulation works under hover conditions, it is no longer valid …
-
Precision navigation for aerospace applications
… a loosely-coupled Extended Kalman Filter using rigid body dynamics as the process with a small angle linearization of quaternions. Simulations are run using real flight data. A bench top hardware prototype is tested. Results show good performance and give a variety of insights into the design of …
-
Strategies for mitigating wind-induced motion in tall buildings through aerodynamic and damping modifications
… this device was studied using simple statics and rigid body dynamics.
-
The ChainQueen differentiable physics engine
… is, however, more challenging compared to rigid body dynamics. The underlying physical laws of deformable objects are more complex, and the resulting systems have orders of magnitude more degrees of freedom and therefore they are significantly more computationally expensive to simulate. …
-
The vibration of rolling discs
… of excitation are examined which cover the Rigid Body dynamics of the rolling disc, the effect of the contact model as a source of excitation and a preliminary consideration of the forces generated by contact of rough surfaces. An elementary representation is presented for the sound radiated …
-
Seismic assessment strategies for masonry structures
… under earthquake loading are presented. First, rigid body dynamics and an experimental testing program are used to characterize the rocking response of the masonry arch for the first time.
-
Missile autopilot design using Mu-Synthesis
… Missile autopilot designs considering both rigid-body dynamics and elastic-body dynamics are presented. Comparisons of the design approaches and results are also discussed. The results show that the application of robust control techniques to the design of missile autopilots can improve the …
-
A Model-Based Planning and Control Framework for Parkour-Style Legged Locomotion
… model capable of capturing task-relevant dynamics. Even with well-chosen models, solving long-horizon trajectory optimization problems for dynamic motions is computationally demanding. This thesis introduces graduated optimization techniques, which improve solver efficiency and reliability …
-
Adaptive control of hypersonic vehicles
… challenging tasks due to the fact that the dynamics of the airframe, propulsion system and structure are integrated and highly interactive. Such a coupling makes it difficult to model various components with a requisite degree of accuracy. This in turn makes various control tasks including …
-
The Duffing Oscillator And Linearization Techniques For Its Motion Constants
… because studying it gives a better view of how rigid bodies act. It forms a clear dynamic analog of the general torque-free motion of an arbitrary rigid body, meaning it covers most of the arbitrary rigid body dynamics. Investigating the motion constants for a finite dimensional nonlinear …
-
Efficient tools for the design and simulation of microelectromechanical and microfluidic systems
… scheme coupling the precorrected FFT solver with rigid body dynamics was introduced and demonstrated. The ODE library was integrated with the solver to enable the simulation of systems with collisions, contacts and friction. Several techniques for speeding up the calculation of each time step were …
-
Modeling viscoelastic responses of the head/neck system during pilot ejection
… Air Force Base in Ohio. The Articulated Total Body model, a FORTRAN computer program capable of simulating three-dimensional human body motion using rigid body dynamics, has been chosen to simulate the response of the head and neck to an ejection-like acceleration. The present Viscoelastic …
-
Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle
… of the vehicle control system. A vehicle dynamics model based on a combination of theory and empirical data would provide an efficient platform for vehicle control system development, and an alternative to the typical trial-and-error method of vehicle control system field tuning. As there …
-
Development and Validation of a Computational Musculoskeletal Model of the Elbow Joint
… being a function of penetration depth. A rigid body dynamics simulator was used to predict the model's behavior under particular external loading conditions.The computational model was validated by simulating past experimental investigations and comparing results. Passive flexion-extension …
-
Stable Embedded Grid Techniques in Computational Mechanics
… an eye towards creating a model in which complex rigid body dynamics can be incorporated.</p><p>We then review the many advantages of embedded mesh techniques for interface representation, and investigate a completely finite element based strategy for embedding domains. The work is seen as a …
-
Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle
… of the vehicle control system. A vehicle dynamics model based on a combination of theory and empirical data would provide an efficient platform for vehicle control system development, and an alternative to the typical trial-and-error method of vehicle control system field tuning. As there …
-
Generalized Navier-Stokes equations for active turbulence
… microtubule networks can exhibit complex flow dynamics and emergent pattern scale selection. Here, I will investigate a simplified phenomenological approach to 'active turbulence', a chaotic non-equilibrium steady-state in which the solvent flow develops a dominant vortex size. This approach …
-
Humanoid Robot Friction Estimation in Multi-Contact Scenarios
… to be utilized in con- cert with whole body control on humanoid robots. This approach allows humanoid robots with ankle mounted force-torque sensors to extrapolate information about the friction constraints at the hands during multi-contact poses without the addition of hardware to the …
-
Robust Adaptive Rigid Body State and Mass Property Estimation Via Unscented Kalman Filter on TSE(3) with Process Noise Estimation
… problem in spacecraft autonomy and astrodynamics. Knowledge of mass properties of a spacecraft is essential for future astronautical missions, as changes in the mass properties of a spacecraft due to a shift in cargo distribution often require a careful and costly recalculation to ensure …
Page 1 of 2