Barrett, The Honors College Thesis/Creative Project Collection
Barrett, The Honors College at Arizona State University proudly showcases the work of undergraduate honors students by sharing this collection exclusively with the ASU community.
Barrett accepts high performing, academically engaged undergraduate students and works with them in collaboration with all of the other academic units at Arizona State University. All Barrett students complete a thesis or creative project which is an opportunity to explore an intellectual interest and produce an original piece of scholarly research. The thesis or creative project is supervised and defended in front of a faculty committee. Students are able to engage with professors who are nationally recognized in their fields and committed to working with honors students. Completing a Barrett thesis or creative project is an opportunity for undergraduate honors students to contribute to the ASU academic community in a meaningful way.
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The goal for this thesis is to construct a quadcopter drone and design a controller for precise movements. The drone will be used to replace dangerous tasks that are currently done by hand like elevated painting, window washing, phoneline repair, etc. There are hundreds of different models and specifications of quadcopter drones, but the focus of the thesis is not on the actual body of the drone. The parts will be ordered online and assembled without rigorous design and analysis. The main goal of the drone design is within the controller to allow for precise movements from one location to another. The best software currently on the market for flight control is a program called ArduPilot. The first step will be to learn the software behind ArduPilot and design the controller in it. Since it is a popular software, the controller design might be very straightforward. If that is the case, the next step will be to design my own controller with a different software. After the controller design it finished, I will test the drone for flying precision and tweak the controller as necessary.
The objective goal of this research is to maximize the speed of the end effector of a three link R-R-R mechanical system with constrained torque input control. The project utilizes MATLAB optimization tools to determine the optimal throwing motion of a simulated mechanical system, while mirroring the physical parameters and constraints of a human arm wherever possible. The analysis of this final result determines if the kinetic chain effect is present in the theoretically optimized solution. This is done by comparing it with an intuitively optimized system based on throwing motion derived from the forehand throw in Ultimate frisbee.
Energy efficient optimal formation control of a multiple quadrotor UAV system with uncertain payload
This thesis presents the design and simulation of an energy efficient controller for a system of three drones transporting a payload in a net. The object ensnared in the net is represented as a mass connected by massless stiff springs to each drone. Both a pole-placement approach and an optimal control approach are used to design a trajectory controller for the system. Results are simulated for a single drone and the three drone system both without and with payload.