Search for dissertations about: "aerial"

Showing result 1 - 5 of 153 swedish dissertations containing the word aerial.

  2. 1. Towards Aerial Robotic Workers

    Author : Emil Fresk; Dimos Dimarogonas; Luleå tekniska universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Aerial Robotic Worker; UAV; Multirotor; Quadrotor; Estimation; Quaternion; Inertial Navigation; Reglerteknik; Control Engineering;

    Abstract : The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. READ MORE

  4. 2. The Core of Aerial Robotic Workers : Generalized Modeling, Estimation, and Control

    Author : Emil Fresk; George Nikolakopoulos; Thomas Gustafsson; Ming Cao; Luleå tekniska universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Aerial robotics; generalized modeling; generalized estimation; generalized control; Reglerteknik; Control Engineering;

    Abstract : In this thesis we are going to explore what the operational core, both mathematically and algorithmically, of an Aerial Robotic Worker consists of, in order to estimate its egomotion and parameters, and adaptively control the aerial vehicle. Moreover, the aim of this thesis is to be a condensed reference for the corresponding areas of aerial robotics, in order to provide a stable and complete foundation on which one can continue research on. READ MORE

  5. 3. Perception Aware Guidance Framework for Micro Aerial Vehicles

    Author : Christoforos Kanellakis; George Nikolakopoulos; Danica Kragic; Luleå tekniska universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; perception driven control for MAVs; aerial inspection; vision based guidance for aerial manipulation; robots in low-light environments; Reglerteknik; Control Engineering;

    Abstract : Micro Aerial Vehicles (MAVs) are platforms that have received significant research resources within robotics community, since they are characterized by simple mechanical design and versatile movement. These platforms possess capabilities that are suitable for complex task execution, in situations which are impossible or dangerous for the human operator to perform, as well as to reduce the operating costs and increase the overall efficiency of the operation. READ MORE

  6. 4. Nonlinear Control of Unmanned Aerial Vehicles : Systems With an Attitude

    Author : Marcus Greiff; Institutionen för reglerteknik; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Nonlinear Control; Lyapunov Methods; Aerospace; Aerial Vehicles; Output Feedback; Control Theory;

    Abstract : This thesis deals with the general problem of controlling rigid-body systems through space, with a special focus on unmanned aerial vehicles (UAVs). Several promising UAV control algorithms have been developed over the past decades, enabling truly astounding feats of agility when combined with modern sensing technologies. READ MORE

  7. 5. Optimization of Unmanned Aerial Vehicles : Expanding the Multidisciplinary Capabilities

    Author : Athanasios Papageorgiou; Johan Ölvander; Mehdi Tarkian; Kristian Amadori; Mikael Thellner; Linköpings universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

    Abstract : Over the last decade, Unmanned Aerial Vehicles (UAVs) have experienced an accelerated growth, and nowadays they are being deployed in a variety of missions that have traditionally been covered by manned aircraft. This unprecedented market expansion has created new and unforeseen challenges for the manufacturing industry which is now called to further reduce the idea-to-market times while simultaneously delivering designs of even higher performance. READ MORE