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Development Of Modeling And Simulation Platform For Path-Planning And Control Of Autonomous Underwater Vehicles In Three-Dimensional Spaces, Sai Krishna Abhiram Kondapalli

Mechanical & Aerospace Engineering Theses & Dissertations

Autonomous underwater vehicles (AUVs) operating in deep sea and littoral environments have diverse applications including marine biology exploration, ocean environment monitoring, search for plane crash sites, inspection of ship-hulls and pipelines, underwater oil rig maintenance, border patrol, etc. Achieving autonomy in underwater vehicles relies on a tight integration between modules of sensing, navigation, decision-making, path-planning, trajectory tracking, and low-level control. This system integration task benefits from testing the related algorithms and techniques in a simulated environment before implementation in a physical test bed. This thesis reports on the development of a modeling and simulation platform that supports the design and …

System Identification And Control Of Cavity Noise Reduction, Chien-Hsun Kuo

Mechanical & Aerospace Engineering Theses & Dissertations

This dissertation first presents indirect closed-loop system identification through residual whitening, then identifies the cavity noise system and applies controllers to reduce the noise. High speed air flow over the cavity produces a complex oscillatory flow-field and induces pressure oscillations within the cavity. The existence of cavities induces large pressure fluctuations which generate undesirable and loud noise. This may have an adverse effect on the objects, such as reducing the stability and performance of overall system, or damaging the sensitive instruments within the cavity.

System identification is the process of building mathematical models of dynamical systems based on the available …

Integrated Control Of Thermally Distorted Large Space Antennas, Robert H. Tolson

Mechanical & Aerospace Engineering Theses & Dissertations

Studies on controlling the thermal distortion of large space antennae have generally investigated a single orbital position and have optimized actuator locations based on minimizing the RMS surface deviation from the original parabolic shape. One study showed the benefits of directly using far zone electric field characteristics as the performance measure; but, this approach resulted in a nonlinear programming problem. The objective of the current study is to develop an approach to designing a control system that (1) recognizes the time dependence of the distortion and (2) controls variables that are directly related to far field performance in a quadratic …

Optimal Control Of A Large Space Telescope Using An Annular Momentum Control Device, Arun Anant Nadkarni

Mechanical & Aerospace Engineering Theses & Dissertations

Application of a new development in the field of momentum storage devices, the Annular Momentum Control Device (AMCD), to the twin problems of large angle maneuvers and fine pointing control is considered. The basic concept of the AMCD consists of a spinning rim, with no central hub area, suspended by a minimum of three magnetic bearings, and driven by a noncontacting electromagnetic spin motor. The dissertation considers in detail the design of an optimal controller to achieve both large angle maneuvers and the fine pointing control of a Large Telescope (LST) with a single configuration, consisting of a single AMCD …