Mechanical Engineering Commons^™

Design And Control Of Next-Generation Uavs For Effectively Interacting With Environments, Caiwu Ding

Dissertations

In this dissertation, the design and control of a novel multirotor for aerial manipulation is studied, with the aim of endowing the aerial vehicle with more degrees of freedom of motion and stability when interacting with the environments. Firstly, it presents an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. The effectiveness of this method is demonstrated through simulation. Secondly, a humanoid robot arm is adopted to serve as …

Design And Automated Operation Of A Condensation-Induced Depressurization System, Fen Du

Dissertations

Typical examples of the use of the vacuum environments in industry include vacuum coating, vacuum drying, vacuum packing, vacuum casting, vacuum heat treatment, vacuum cooling for food storage and leakage detection. Most of these applications require a comparatively small volume of vacuum environment. However, there are also many applications where enormous vacuum chambers are needed. For example, a large vacuum chamber is used to simulate the conditions of space.

This study investigates the design and the automated operation of a vacuum generation system based on the idea of the condensation-induced depressurization with prefilled condensable medium in a confined, adiabatic chamber. …