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Motion Planning And Control Of Differential Drive Robot, Kaamesh Kothandaraman
Motion Planning And Control Of Differential Drive Robot, Kaamesh Kothandaraman
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Motion planning and control of a differential drive robot in a supervised environment is presented in this thesis. Differential drive robot is a mobile robot with two driving wheels in which the overall velocity is split between left and right wheels. Kinematic equations are derived and implemented in Simulink to observe the theoretical working principle of the robot. A proportional controller is designed to control the motion of the robot, which is later implemented on a physical robot. Combination of linear velocity and orientation generates individual wheel velocities which are sent to the robot by wireless communication for its motion. …
Fuzzy Control Of A Hyperloop Mass Transit System, Joseph D. Plantz
Fuzzy Control Of A Hyperloop Mass Transit System, Joseph D. Plantz
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Fuzzy logic control of a Hyperloop is carried out in this thesis. Hyperloop is being described hypothetically as a fifth mode of mass transportation and is a registered trademark of Space Exploration Technologies Corporation (SpaceX). To inspire others to help in its development and make it a reality, the Hyperloop is being explored as open-source technology by SpaceX. In this thesis a near friction-less track is constructed and is fixed inside a tunnel. External fans are used to produce air pressure inside the tunnel to propel the vehicle down the track. Fuzzy Logic Control is used to stop the vehicle …
A Closed Loop Research Platform That Enables Dynamic Control Of Wing Gait Patterns In A Vertically Constrained Flapping Wing - Micro Air Vehicle, Hermanus Van Botha
A Closed Loop Research Platform That Enables Dynamic Control Of Wing Gait Patterns In A Vertically Constrained Flapping Wing - Micro Air Vehicle, Hermanus Van Botha
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Research in Flapping Wing - Micro Air Vehicles(FW-MAVs) has been growing in recent years. Work ranging from mechanical designs to adaptive control algorithms are being developed in pursuit of mimicking natural flight. FW-MAV technology can be applied in a variety of use cases such a military application and surveillance, studying natural ecological systems, and hobbyist commercialization. Recent work has produced small scale FW-MAVs that are capable of hovering and maneuvering. Researchers control maneuvering in various ways, some of which involve making small adjustments to the core wing motion patterns (wing gaits) which determine how the wings flap. Adaptive control algorithms …