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Full-Text Articles in Engineering
Implementation Of Static Rfid Landmarks In Slam For Planogram Compliance, Brennan L. Drake
Implementation Of Static Rfid Landmarks In Slam For Planogram Compliance, Brennan L. Drake
Honors College Theses
Autonomous robotic systems are becoming increasingly prevalent in everyday life and exhibit robust solutions in a wide range of applications. They face many obstacles with the foremost of which being SLAM, or Simultaneous Localization and Mapping, that encompasses both creation of the map of an unknown environment and localization of the robot in said environment. In this experiment, researchers propose the use of RFID tags in a semi-dynamic commercial environment to provide concrete landmarks for localization and mapping in pursuit of increased locational certainty. With this obtained, the ultimate goal of the research is to construct a robotics platform for …
Space Dynamics Laboratory Payload Challenge: Autonomous Water Sampling Uav, Thomas Wheeler, Zachary Williams, Joseph Stack
Space Dynamics Laboratory Payload Challenge: Autonomous Water Sampling Uav, Thomas Wheeler, Zachary Williams, Joseph Stack
Williams Honors College, Honors Research Projects
The following report has been completed over the course of the Fall 2018 and Spring 2019 semesters at The University of Akron by Joseph P. Stack (Aerospace Systems Engineering), Thomas J. Wheeler (Mechanical Engineering) and Zachary M. Williams (Mechanical Engineering). The purpose of this project was to create a payload system for the Akronauts Rocket Design Team to use at the Intercollegiate Rocket Engineering Competition (IREC) Spaceport America Cup. The Competition as a challenge that is sponsored by Space Dynamics Laboratory specifically regarding payload systems. The challenge in very open-ended and allows student to identify their own scientific experiment and …
Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven
Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven
Theses and Dissertations--Mechanical Engineering
This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the …
Verification Of A Dual-State Extended Kalman Filter With Lidar-Enabled Autonomous Hazard-Detection For Planetary Landers, Peter Joseph Jorgensen
Verification Of A Dual-State Extended Kalman Filter With Lidar-Enabled Autonomous Hazard-Detection For Planetary Landers, Peter Joseph Jorgensen
Master's Theses (2009 -)
This thesis presents a mathematical model for a LIDAR-enabled Terrain- and Hazard-Relative Navigation sensor and the design and implementation of a dual-state extended Kalman filter. The extended Kalman filter equations are presented in summary. Mathematical models for an altimeter, a velocimeter, a star tracker, and a lidar-enabled mapping/tracking sensor are presented in depth. An explanation of the software designed for computer simulation is included. It is proved through this analysis that, when implemented as part of a well-tuned extended Kalman Filter and in combination with other sensors, the proposed model for a lidar-enabled mapping/tracking sensor significantly reduces estimation error. This …