Physical Sciences and Mathematics Commons^™

Uav 6dof Simulation And Kalman Filter For Localizing Radioactive Sources, John G. Goulet

Electronic Theses and Dissertations

Unmanned Aerial Vehicles (UAVs) expand the available mission-space for a wide range of budgets. Using MATLAB, this project has developed a six degree of freedom (6DOF) simulation of UAV flight, an Extended Kalman Filter (EKF), and an algorithm for localizing radioactive sources using low-cost hardware. The EKF uses simulated low-cost instruments in an effort to estimate the UAV state throughout simulated flight.

The 6DOF simulates aerodynamics, physics, and controls throughout the flight and provides outputs for each time step. Additionally, the 6DOF simulation offers the ability to control UAV flight via preset waypoints or in realtime via keyboard input.

Using …

A Tale Of Two Bays: The Development And Applications Of The Saco And Casco Modeling Project, Stephen M. Moore

Electronic Theses and Dissertations

This thesis details the development and application of a finite-volume, hydrodynamic model of Saco and Casco Bays. The primary study conducted herein focused on coupling storm simulations with sea level rise (SLR) to identify vulnerabilities of the two bays. The February 1978 Northeaster and an April freshwater discharge event in 2007 following the Patriot’s Day Storm were modeled by utilizing the Finite-Volume Coastal Ocean Model (FVCOM). Both events were repeatedly simulated under SLR scenarios ranging from 0 to 7 ft. Modeled storm responses were identified from the 1978 blizzard simulations and were tracked across SLR scenarios. By comparing changes in …

Paper Structure Formation Simulation, Tyler R. Seekins

Electronic Theses and Dissertations

On the surface, paper appears simple, but closer inspection yields a rich collection of chaotic dynamics and random variables. Predictive simulation of paper product properties is desirable for screening candidate experiments and optimizing recipes but existing models are inadequate for practical use. We present a novel structure simulation and generation system designed to narrow the gap between mathematical model and practical prediction. Realistic inputs to the system are preserved as randomly distributed variables. Rapid fiber placement (~1 second/fiber) is achieved with probabilistic approximation of chaotic fluid dynamics and minimization of potential energy to determine flexible fiber conformations. Resulting digital packed …

Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett

Electronic Theses and Dissertations

As Unmanned Aerial Vehicle (UAV), or “drone” applications expand, new methods for sensing, navigating and avoiding obstacles need to be developed. The project applies an Extended Kalman Filter (EKF) to a simulated quadcopter vehicle though Matlab in order to estimate not only the vehicle state but the world state around the vehicle. The EKF integrates multiple sensor readings from range sensors, IMU sensors, and radiation sensors and combines this information to optimize state estimates. The result is an estimated world map to be used in vehicle navigation and obstacle avoidance.

The simulation handles the physics behind the vehicle flight. As …