Open Access. Powered by Scholars. Published by Universities.®
- Keyword
-
- Airborne Manipulators (1)
- Autonomous Quadrotor (1)
- Control Allocation (1)
- Counter-Quadrotor (1)
- Counter-UAS (1)
-
- Counter-UAV (1)
- Fundamentals of Airborne Manipulation (1)
- Graphical user interface (1)
- Hardening Process (1)
- High-Frequency Currents (1)
- Indoor positioning system(IPS) (1)
- Inertial Measurement Unit (IMU) (1)
- Infrared Image processing. (1)
- Intelligent Control (1)
- LIDAR (1)
- Lead Zirconate Titanate (1)
- MARCUS (1)
- Materials (1)
- Optical flow (1)
- PZT (1)
- Piezoelectric (1)
- ROS (1)
- Radio Frequency (RF) Magnetron Sputtering (1)
- Real Time Control Systems (1)
- Reference generation (1)
- Robot simulation (1)
- Runtime Assurance (1)
- SIFT (1)
- VIPRO platform (1)
- Video Compass (1)
- Publication
- Publication Type
Articles 1 - 6 of 6
Full-Text Articles in Robotics
Control Of Fully-Actuated Aerial Manipulators And Omni-Directional Multirotors, Riley M. Mccarthy
Control Of Fully-Actuated Aerial Manipulators And Omni-Directional Multirotors, Riley M. Mccarthy
Mechanical Engineering ETDs
This thesis details the system modeling, design, control, simulation, construction, and
testing of both a fully-actuated and omni-directional multirotor aerial system created
for the primary purpose of performing active tasks with their environment. This work
verifies the capabilities of both systems through empirical testing, and demonstrates
how through the use of new control methods and physical designs multirotors can
expand their purpose from passive inspection based tasks to active contact based
tasks. These systems take advantage of newly implemented control allocation features present in the PX4 flight control software, version 1.14. The use of which makes designing controllers for such …
Material Characterization And Comparison Of Sol-Gel Deposited And Rf Magnetron Deposited Lead Zirconate Titanate Thin Films, Katherine Lynne Miles
Material Characterization And Comparison Of Sol-Gel Deposited And Rf Magnetron Deposited Lead Zirconate Titanate Thin Films, Katherine Lynne Miles
Mechanical Engineering ETDs
Lead zirconate titanate (PZT) has been a material of interest for sensor, actuator, and transducer applications in microelectromechanical systems (MEMS). This is due to their favorable piezoelectric, pyroelectric and ferroelectric properties. While various methods are available to deposit PZT thin films, radio frequency (RF) magnetron sputtering was selected to provide high quality PZT films with the added capability of batch processing. These sputter deposited PZT films were characterized to determine their internal film stress, Young’s modulus, composition, and structure. After characterization, the sputtered PZT samples were poled using corona poling and direct poling methods. As a means of comparison, commercially …
Airborne Counter-Uncrewed Systems With Runtime Assurance Control, Isaac J. Seslar
Airborne Counter-Uncrewed Systems With Runtime Assurance Control, Isaac J. Seslar
Mechanical Engineering ETDs
This thesis develops a response to the increase in the availability of the commercially available uncrewed aerial systems and is dedicated to the detection, classification, and tracking required to successfully neutralize when determined malicious. A requirement of actively avoiding obstacles using runtime assurance is addressed and designed to keep the hardware safe in potentially dangerous situations. This work will elaborate on the several components the test bed is comprised of, specifically the hardware and software portions that successfully solve the problem. The software encompasses the simulation, the multiple algorithms required for the tracking, and the machine learning required for detection …
Improvement Of The Material’S Mechanical Characteristics Using Intelligent Real Time Control Interfaces In Hfc Hardening Process, Florentin Smarandache, Luige Vladareanu, Mihaiela Iliescu, Victor Vladareanu, Alexandru Gal, Octavian Melinte, Adrian Margean
Improvement Of The Material’S Mechanical Characteristics Using Intelligent Real Time Control Interfaces In Hfc Hardening Process, Florentin Smarandache, Luige Vladareanu, Mihaiela Iliescu, Victor Vladareanu, Alexandru Gal, Octavian Melinte, Adrian Margean
Branch Mathematics and Statistics Faculty and Staff Publications
The paper presents Intelligent Control (IC) Interfaces for real time control of mechatronic systems applied to Hardening Process Control (HPC) in order to improvement of the material’s mechanical characteristics. Implementation of IC laws in the intelligent real time control interfaces depends on the particular circumstances of the models characteristics used and the exact definition of optimization problem. The results led to the development of the IC interfaces in real time through Particle Swarm Optimization (PSO) and neural networks (NN) using off- line the regression methods.
A Novel Indoor Positioning System For Firefighters In Unprepared Scenarios, Vamsi Karthik Vadlamani
A Novel Indoor Positioning System For Firefighters In Unprepared Scenarios, Vamsi Karthik Vadlamani
Electrical and Computer Engineering ETDs
Situational awareness and indoor positioning of firefighters are types of information of paramount importance to the success of search and rescue operations. GPS units are undependable for use in Indoor Positioning Systems due to their associated mar- gins of error in position and their reliance on satellite communication that can be interrupted inside large structures. There are few other techniques like dead reck- oning, Wifi and bluetooth based triangulation, Structure from Motion (SFM) based scene reconstruction for Indoor positioning system. However due to high temper- atures, the rapidly changing environment of fires, and low parallax in the thermal images, the …
Application For Position And Load Reference Generation Of A Simulated Mechatronic Chain, Florentin Smarandache, V. Vladareanu, S.B. Cononovici, M. Migdalovici, H. Wang, Y. Feng
Application For Position And Load Reference Generation Of A Simulated Mechatronic Chain, Florentin Smarandache, V. Vladareanu, S.B. Cononovici, M. Migdalovici, H. Wang, Y. Feng
Branch Mathematics and Statistics Faculty and Staff Publications
The paper presents the position and load reference generation for a motor stand simulating a mechatronic chain, in this case a three degree of freedom robot leg. The task is accomplished using three PLC controlled motors in position as the robot joint actuators coupled with three controlled in torque, simulating the load at each simulation time-step. The paper briefly discusses the mathematical model and presents the visual interface used in the simulation, which is then to be further integrated into a virtual environment robot control application.