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Full-Text Articles in Controls and Control Theory
Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Masters Theses
Teleoperation of ground/aerial vehicle extends operator's ability (e.g. expertise, strength, mobility) into the remote environment, and haptic feedback enhances the human operator's perception of the slave environment. In my thesis, two cases are studied: wheeled mobile robot (MWR) haptic tele-driving over the Internet and unmanned aerial vehicle (UAV) haptic teleoperation over the Internet.
We propose novel control frameworks for both dynamic WMR and kinematic WMR in various tele-driving modes, and for a "mixed" UAV with translational dynamics and attitude kinematics.
The recently proposed passive set-position modulation (PSPM) framework is extended to guarantee the passivity and/or stability of the closed-loop system …
Development Of A Novel Methodology For Indoor Emission Source Identification, Kwanghoon Han
Development Of A Novel Methodology For Indoor Emission Source Identification, Kwanghoon Han
Kwanghoon Han
The objective of this study was to develop and evaluate a methodology to identify individual sources of emissions based on the measurements of mixed air samples and the emission signatures of individual materials previously determined by Proton Transfer Reaction-Mass Spectrometry (PTR-MS), an on-line analytical device. The methodology based on signal processing principles was developed by employing the method of multiple regression least squares (MRLS) and a normalization technique. Samples of nine typical building materials were tested individually and in combination, including carpet, ceiling material, gypsum board, linoleum, two paints, polyolefine, PVC and wood. Volatile Organic Compound (VOC) emissions from each …