Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Computer Engineering
Design And Control Of Next-Generation Uavs For Effectively Interacting With Environments, Caiwu Ding
Design And Control Of Next-Generation Uavs For Effectively Interacting With Environments, Caiwu Ding
Dissertations
In this dissertation, the design and control of a novel multirotor for aerial manipulation is studied, with the aim of endowing the aerial vehicle with more degrees of freedom of motion and stability when interacting with the environments. Firstly, it presents an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. The effectiveness of this method is demonstrated through simulation. Secondly, a humanoid robot arm is adopted to serve as …
A Machine Learning Approach To Intended Motion Prediction For Upper Extremity Exoskeletons, Justin Berdell
A Machine Learning Approach To Intended Motion Prediction For Upper Extremity Exoskeletons, Justin Berdell
Graduate Research Theses & Dissertations
A fully solid-state, software-defined, one-handed, handle-type control device built around a machine-learning (ML) model that provides intuitive and simultaneous control in position and orientation each in a full three degrees-of-freedom (DOF) is proposed in this paper. The device, referred to as the “Smart Handle”, and it is compact, lightweight, and only reliant on low-cost and readily available sensors and materials for construction. Mobility chairs for persons with motor difficulties could make use of a control device that can learn to recognize arbitrary inputs as control commands. Upper-extremity exoskeletons used in occupational settings and rehabilitation require a natural control device like …