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Full-Text Articles in Computer Engineering
Estimating Cell Capacity For Multi-Cell Electrical Energy System, Iman Ahari Hashemi
Estimating Cell Capacity For Multi-Cell Electrical Energy System, Iman Ahari Hashemi
Doctoral Dissertations and Master's Theses
A Multi-Cell Electrical Energy System is a set of batteries that are connected in series. The series batteries provide the required voltage necessary for the contraption. After using the energy that is provided by the batteries, some cells within the system tend to have a lower voltage than the other cells. Also, other factors, such as the number of times a battery has been charged or discharged, how long it has been within the system and many other factors, result in some cells having a lesser capacity compared to the other cells within the system. The outcome is that it …
Nonlinear Control For Dual Quaternion Systems, William D. Price
Nonlinear Control For Dual Quaternion Systems, William D. Price
Doctoral Dissertations and Master's Theses
The motion of rigid bodies includes three degrees of freedom (DOF) for rotation, generally referred to as roll, pitch and yaw, and 3 DOF for translation, generally described as motion along the x, y and z axis, for a total of 6 DOF. Many complex mechanical systems exhibit this type of motion, with constraints, such as complex humanoid robotic systems, multiple ground vehicles, unmanned aerial vehicles (UAVs), multiple spacecraft vehicles, and even quantum mechanical systems. These motions historically have been analyzed independently, with separate control algorithms being developed for rotation and translation. The goal of this research is to study …
Dynamics And Control Of Higher-Order Nonholonomic Systems, Jaime Rubio HerváS
Dynamics And Control Of Higher-Order Nonholonomic Systems, Jaime Rubio HerváS
Doctoral Dissertations and Master's Theses
A theoretical framework is established for the control of higher-order nonholonomic systems, defined as systems that satisfy higher-order nonintegrable constraints. A model for such systems is developed in terms of differential-algebraic equations defined on a higher-order tangent bundle. A number of control-theoretic properties such as nonintegrability, controllability, and stabilizability are presented. Higher-order nonholonomic systems are shown to be strongly accessible and, under certain conditions, small time locally controllable at any equilibrium. There are important examples of higher-order nonholonomic systems that are asymptotically stabilizable via smooth feedback, including space vehicles with multiple slosh modes and Prismatic-Prismatic-Revolute (PPR) robots moving open liquid …