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Full-Text Articles in Engineering
Dynamic Maneuvers For Satellite On-Orbit Servicing Utilizing Novel Continuum Robotics: Development & Experimentation, Nathan Dalton
Dynamic Maneuvers For Satellite On-Orbit Servicing Utilizing Novel Continuum Robotics: Development & Experimentation, Nathan Dalton
Masters Theses
Robotic on-orbit servicing is a developing technology that seeks to increase the longevity and repairability of faulty or aging resident space objects. In this research, the development of a flexible continuum manipulator for a small satellite system that performs low-complexity on-orbit servicing or debris removal is presented. Derivations of manipulator kinematics are described in detail, a non-linear control scheme has been developed, and the accuracy and servicing applications for the prototype are evaluated and discussed. The manipulator has been tested on an air-bearing dynamics simulator, and the results are extensively analyzed. System recommendations and future work suggestions are presented.
Model Predictive Power Management Of A Hybrid Electric Propulsion System For Aircraft, Tyler J. Wall
Model Predictive Power Management Of A Hybrid Electric Propulsion System For Aircraft, Tyler J. Wall
Masters Theses
This work presents the switched optimal power flow control for an aircraft with a hybrid electric propulsion system. The propulsion system is a switched system that operates in either of two modes: (i) battery discharging and electric motor propelling and (ii) battery charging and electric motor generating. The aircraft model and components that form the hybrid propulsion system are modeled as either an algebraic power source/sink or as a dynamic model with appropriate power and state interconnections. With the system model defined, a model predictive control power management strategy is set fourth which minimizes a performance index that includes altitude …
Discrete-Time Neural Network Based State Observer With Neural Network Based Control Formulation For A Class Of Systems With Unmatched Uncertainties, Jason Michael Stumfoll
Discrete-Time Neural Network Based State Observer With Neural Network Based Control Formulation For A Class Of Systems With Unmatched Uncertainties, Jason Michael Stumfoll
Masters Theses
"An observer is a dynamic system that estimates the state variables of another system using noisy measurements, either to estimate unmeasurable states, or to improve the accuracy of the state measurements. The Modified State Observer (MSO) is a technique that uses a standard observer structure modified to include a neural network to estimate system states as well as system uncertainty. It has been used in orbit uncertainty estimation and atmospheric reentry uncertainty estimation problems to correctly estimate unmodeled system dynamics. A form of the MSO has been used to control a nonlinear electrohydraulic system with parameter uncertainty using a simplified …
Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings
Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings
Masters Theses
This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive and …
Optimal Control Of Energy Efficient Buildings, Cale David Nelson
Optimal Control Of Energy Efficient Buildings, Cale David Nelson
Masters Theses
The building sector consumes a large part of the energy used in the United States and is responsible for nearly 40% of greenhouse gas emissions. Therefore, it is economically and environmentally important to reduce the building energy consumption to realize massive energy savings. Commercial buildings are complex, multi-physics, and highly stochastic dynamic systems. Recent work has focused on integrating modern modeling, simulation, and control techniques to solving this challenging problem. The overall focus of this thesis is directed toward designing an energy efficient building by controlling room temperature. One approach is based on a distributed parameter model represented by a …
Control And Coordination In A Networked Robotic Platform, Krishna Chaitanya Kalavacharla
Control And Coordination In A Networked Robotic Platform, Krishna Chaitanya Kalavacharla
Masters Theses
Control and Coordination of the robots has been widely researched area among the swarm robotics. Usually these swarms are involved in accomplishing tasks assigned to them either one after another or concurrently. Most of the times, the tasks assigned may not need the entire population of the swarm but a subset of them. In this project, emphasis has been given to determination of such subsets of robots termed as ”flock” whose size actually depends on the complexity of the task. Once the flock is determined from the swarm, leader and follower robots are determined which accomplish the task in a …
Analysis And Comparison Of Effects Of An Airfoil Or A Rod On Supersonic Cavity Flow., William Leland Fowler
Analysis And Comparison Of Effects Of An Airfoil Or A Rod On Supersonic Cavity Flow., William Leland Fowler
Masters Theses
The effects of an airfoil at different angles of attack and a circular cylindrical rod within the edge of the boundary layer flow at the leading edge of a cavity as a device for controlling the large pressure fluctuations (resonance tones) in the cavity were investigated. The airfoil results were compared with the rod in crossflow method positioned at the same leading edge location. The cavity used for testing corresponded to a length to depth ratio, L/D of 11.0/2.25 with a length to width ratio, L/W of 11.0/3.00 at a freestream Mach 1.84 flow. The study included measurements of dynamic …