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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 …