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Full-Text Articles in Computer Engineering

Force-Canceling Mixer Algorithm For Vehicles With Fully-Articulated Radially-Symmetric Thruster Arrays, Joseph Nicholas Casabona Jan 2018

Force-Canceling Mixer Algorithm For Vehicles With Fully-Articulated Radially-Symmetric Thruster Arrays, Joseph Nicholas Casabona

Electronic Theses and Dissertations

A new type of fully-holonomic aerial vehicle is identified and developed that can optionally utilize automatic cancellation of excessive thruster forces to maintain precise control despite little or no throttle authority. After defining the physical attributes of the new vehicle, a flight control mixer algorithm is defined and presented. This mixer is an input/output abstraction that grants a flight control system (or pilot) full authority of the vehicle's position and orientation by means of an input translation vector and input torque vector. The mixer is shown to be general with respect to the number of thrusters in the ...


Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett Aug 2017

Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett

Electronic Theses and Dissertations

As Unmanned Aerial Vehicle (UAV), or “drone” applications expand, new methods for sensing, navigating and avoiding obstacles need to be developed. The project applies an Extended Kalman Filter (EKF) to a simulated quadcopter vehicle though Matlab in order to estimate not only the vehicle state but the world state around the vehicle. The EKF integrates multiple sensor readings from range sensors, IMU sensors, and radiation sensors and combines this information to optimize state estimates. The result is an estimated world map to be used in vehicle navigation and obstacle avoidance.

The simulation handles the physics behind the vehicle flight. As ...


System Identification Of A Circulation Control Unmanned Aerial Vehicle, Mohammed Agha Jan 2017

System Identification Of A Circulation Control Unmanned Aerial Vehicle, Mohammed Agha

Electronic Theses and Dissertations

The advancement in automation and sensory systems in recent years has led to an increase the demand of UAV missions. Due to this increase in demand, the research community has gained interest in investigating UAV performance enhancing systems. Circulation Control (CC), which is an active control flow method used to enhance UAV lift, is a performance enhancing system currently studied. In prior research, experimental studies have shown that Circulation Control wings (CCW) implemented on class-I UAVs can reduce take-off distance by 54%. Wind tunnel tests reveal that CC improves aircraft payload capabilities through lift enhancement. Increasing aircraft payload capabilities causes ...


Dexterous Hexrotor Uav Platform, Guangying Jiang Nov 2013

Dexterous Hexrotor Uav Platform, Guangying Jiang

Electronic Theses and Dissertations

Mobile manipulation is a hot area of study in robotics as it unites the two classes of robots: locomotors and manipulators. An emerging niche in the field of mobile manipulation is aerial mobile manipulation. Although there has been a fair amount of study of free-flying satellites with graspers, the more recent trend has been to outfit UAVs with graspers to assist various manipulation tasks. While this recent work has yielded impressive results, it is hampered by a lack of appropriate testbeds for aerial mobile manipulation, similar to the state of ground-based mobile manipulation a decade ago. Typical helicopters or quadrotors ...


Coalition Formation In Multi-Agent Uav Systems, Paul Dejong Jan 2005

Coalition Formation In Multi-Agent Uav Systems, Paul Dejong

Electronic Theses and Dissertations

Coalitions are collections of agents that join together to solve a common problem that either cannot be solved individually or can be solved more efficiently as a group. Each individual agent has capabilities that can benefit the group when working together as a coalition. Typically, individual capabilities are joined together in an additive way when forming a coalition. This work will introduce a new operator that is used when combining capabilities, and suggest that the behavior of the operator is contextual, depending on the nature of the capability itself. This work considers six different capabilities of Unmanned Air Vehicles (UAV ...