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 9 of 9 for “"special Euclidean group"”.
-
Robust Spacecraft Autonomy for Deep Space Exploration in Special Euclidean Group SE(3)
… One approach begins by considering the special Euclidean group SE(3). SE(3) is a smooth manifold and Lie group representing the space of 3-dimensional rigid-body transformations, comprising of a semidriect product of SO3 (rotations) and $\mathbb{R}^3$ (translations). This formulation is …
-
Rigid Body Constrained Motion Optimization and Control on Lie Groups and Their Tangent Bundles
… 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 position and attitude, the special Euclidean group SE(3) and the space of dual …
-
Constrained Motion Analysis and Control of Spacecraft Asteroid Hovering with Formulation Extension in Geometric Mechanics Framework
… Constraints with a basis on the Lie algebra of special Euclidean group SE(3) are developed to fully constrain a spacecraft’s position and orientation for hovering over an asteroid. The geometric mechanics UK formulation successfully gives the required angular and translational accelerations to …
-
Robust Adaptive Rigid Body State and Mass Property Estimation Via Unscented Kalman Filter on TSE(3) with Process Noise Estimation
… framework de- fined on the tangent bundle of the special Euclidean group, TSE(3), tailored explicitly for nonlinear mass property estimation. The external environmental disturbances due to massive primaries are then modeled via the circular restricted full three-body problem, which extends the …
-
Spatial reasoning for computer aided design, manufacturing and process planning
… and efficient formulation in terms of the subgroups of the special Euclidean group of displacements SE(3) has been used in conjunction with the Grobner bases algorithm. The integration of these techniques (i) lowers the computational cost of the problem; (ii) relates Grobner Bases to the …
-
Solar Sailing Adaptive Control Around the Earth-Moon Lagrange Point L4 for Stellar Observations
… in the geometric mechanics formalism of the Special Euclidean group SE(3) and its tangent bundle TSE(3).</p>
-
Nonlinear Control for Dual Quaternion Systems
… and translation simultaneously. This will prove especially beneficial in complex systems in the aerospace and robotics area where translational motion and rotational motion are highly coupled, such as when spacecraft have body fixed thrusters.</p> <p>A novel mathematical system known as dual …
-
The Creation of Motion Planning Software for a Car-like Robot
… the Dubins car as an underactuated system on the special Euclidean group in dimension 2 and then solving an associated set of inverse kinematics problems. A similar set of equations that describe the set of Reeds-Shepp paths is also presented in this dissertation. To demonstrate the efficacy of …
-
Dual Quaternions for Gravity Recovery Missions
… against and compared to the tangent bundle to Special Euclidean Group 3 through MATLAB simulations. The dual quaternion-based approach shows superior performance over traditional linearized and uncoupled methodologies, in both modeling accuracy of spacecraft translational position, and the …