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Full-Text Articles in Ordinary Differential Equations and Applied Dynamics
Mathematical Modeling Of Quadcopter Dynamics, Qikai Huang (Bruce Wingo)
Mathematical Modeling Of Quadcopter Dynamics, Qikai Huang (Bruce Wingo)
Mathematical Sciences Technical Reports (MSTR)
Recently, Google, Amazon and others are attempting to develop delivery drones for commercial use, in particular Amazon Prime Air promising 30 minute delivery. One type of commonly used drone proposed for such purposes is a quadcopter. Quadcopters have been around for some time with original development in the 1920’s. They are popular now because they are mechanically simple and provide a good vehicle for unmanned flight. By controlling the speed of the four propellers, a quadcopter can roll, change pitch, change yaw, and accelerate. This research will focus on the study of classical mechanics theories on rigid body motion using …
Spontaneous Synchrony On Graphs And The Emergence Of Order From Disorder, Dylan Linville, Daniel Trugillo Martins Fontes
Spontaneous Synchrony On Graphs And The Emergence Of Order From Disorder, Dylan Linville, Daniel Trugillo Martins Fontes
Mathematical Sciences Technical Reports (MSTR)
From pulsars to pedestrians and bacteria to brain cells, objects that exhibit cyclical behavior, called oscillators, are found in a variety of different settings. When oscillators adjust their behavior in response to nearby oscillators, they often achieve a state of synchrony, in which they all have the same phase and frequency. Here, we explore the Kuramoto model, a simple and general model which describes oscillators as dynamical systems on a graph and has been used to study synchronization in systems ranging from firefly swarms to the power grid. We discuss analytical and numerical methods used to investigate the governing system …
Robot Space Coordinate Representation Of Objects In Euclidean Space, Justin Gallagher
Robot Space Coordinate Representation Of Objects In Euclidean Space, Justin Gallagher
Mathematical Sciences Technical Reports (MSTR)
Robot motion control strategies generally center around trajectory planning schemes which are point-to-point. This paper explores the problem of planning robot trajectories which sweep an area in a two-link robot's work space. A diffeomorphism which transforms the linear coordinates of Euclidean space to the non-linear angular coordinates which represent the displacements of the joint motors is developed. It is used to determine the distortion of an object's area at different locations in the robot's work space and for different robot link length geometries. Study of such distortions may lead to an optimization scheme by which the placement of the object …