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Analysis Of Evolutionary Algorithms In The Control Of Path Planning Problems, Pavlos Androulakakis
Analysis Of Evolutionary Algorithms In The Control Of Path Planning Problems, Pavlos Androulakakis
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The purpose of this thesis is to examine the ability of evolutionary algorithms (EAs) to develop near optimal solutions to three different path planning control problems. First, we begin by examining the evolution of an open-loop controller for the turn-circle intercept problem. We then extend the evolutionary methodology to develop a solution to the closedloop Dubins Vehicle problem. Finally, we attempt to evolve a closed-loop solution to the turn constrained pursuit evasion problem. For each of the presented problems, a custom controller representation is used. The goal of using custom controller representations (as opposed to more standard techniques such as …
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 …
An Experimental Investigation On The Control Of Tip Vortices From Wind Turbine Blade, Zhe Ning
An Experimental Investigation On The Control Of Tip Vortices From Wind Turbine Blade, Zhe Ning
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Wind turbine dynamics, wake effects and environmental impacts have been identified the most significant research topics needed for wind resource characterization and wind power generation. Among these issues, tip vortices generated from the blade tip have been recognized as a substantial resource for the turbulent wake flow as well as the aerodynamic noise emission from a wind turbine. An experimental study is conducted to characterize the evolution of the tip vortices downstream of a well-designed horizontal axis wind turbine (HAWT) model. In addition to measuring dynamic wind loads (both aerodynamic forces and moments) and power output from the wind turbine …
The Harmonic Distortion Reduction Of Phase-Angle Fired Scrs Feeding A Resistive Load Using Fuzzy Logic, Matthew A. Clark
The Harmonic Distortion Reduction Of Phase-Angle Fired Scrs Feeding A Resistive Load Using Fuzzy Logic, Matthew A. Clark
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High power silicon controlled rectifiers (SCR) are used in the application of infrared radiation testing. A case study has been performed on a department of defense facility utilizing SCRs to transfer electrical energy to thermal energy. The facility is capable of generating up to 5000 °F across large cross-sectional areas, requiring tens of megawatts of power. The combination of high power, unbalanced loads, and SCR switching generate high harmonic disturbances that offer significant challenges for conventional linear control systems. In addition, unbalanced three-phase distribution systems are difficult to model, specifically during switching transients. Fuzzy logic is used to characterize the …
Autopilot Development For An Rc Helicopter, Mark C. Arlinghaus
Autopilot Development For An Rc Helicopter, Mark C. Arlinghaus
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The development of an autopilot system for an RC helicopter presents interesting challengesfrom both a hardware and controls standpoint. The system detailed in this thesis utilizes a 13 state Extended Kalman Filter (EKF) to fuse sensor data and provide a position/velocity/attitude estimate. A novel, state of the art hybrid PID/LQR controller is developed and compared with a full state Linear Quadratic Regulator (LQR). The hybrid controller uses a proportional position, PID velocity outer loop coupled with an inner loop LQR for attitude control. The entire system is developed and implemented in hardware to produce a functional autopilot. The unit was …