Engineering Commons^™

Fuzzy Logic Control Of An Inverted Pendulum Robot, Kyle Reid

Electrical Engineering

The inverted pendulum is a classical problem in controls. The inherit instabilities in the setup make it a natural target for a control system. Over the years it has been the benchmark for testing new and innovative control theories such as Fuzzy Logic. During the course of this project a software fuzzy logic controller was implemented using a PIC microcontroller. At the conclusion of the experiment an interesting realization was made about the nature of Fuzzy Logic and its applicability in the world of controls.

Scene Segmentation And Object Classification For Place Recognition, Chang Cheng

Doctoral Dissertations

This dissertation tries to solve the place recognition and loop closing problem in a way similar to human visual system. First, a novel image segmentation algorithm is developed. The image segmentation algorithm is based on a Perceptual Organization model, which allows the image segmentation algorithm to ‘perceive’ the special structural relations among the constituent parts of an unknown object and hence to group them together without object-specific knowledge.

Then a new object recognition method is developed. Based on the fairly accurate segmentations generated by the image segmentation algorithm, an informative object description that includes not only the appearance (colors and …

Multiple Robot Boundary Tracking With Phase And Workload Balancing, Michael Jay Boardman

Master's Theses

This thesis discusses the use of a cooperative multiple robot system as applied to distributed tracking and sampling of a boundary edge. Within this system the boundary edge is partitioned into subsegments, each allocated to a particular robot such that workload is balanced across the robots. Also, to minimize the time between sampling local areas of the boundary edge, it is desirable to minimize the difference between each robot’s progression (i.e. phase) along its allocated sub segment of the edge. The paper introduces a new distributed controller that handles both workload and phase balancing. Simulation results are used to illustrate …

Cooperative Remote Sensing And Actuation Using Networked Unmanned Vehicles, Haiyang Chao

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This dissertation focuses on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes in the current information-rich world. The target scenarios are environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks, etc. AggieAir, a small and low-cost unmanned aircraft system, is designed based on the remote sensing requirements from environmental monitoring missions. The state estimation problem and the advanced lateral flight controller design problem are further attacked focusing on the small unmanned aerial vehicle (UAV) platform. Then the UAV-based remote sensing problem is focused with further flight …