Theses and Dissertations
This collection includes both ASU Theses and Dissertations, submitted by graduate students, and the Barrett, Honors College theses submitted by undergraduate students.
Displaying 1 - 3 of 3
Filtering by
- All Subjects: robotics
- Creators: Delp, Deana
Description
Mission aviation groups operate aircraft in areas with limited infrastructure. Existing airdrop methods pose significant risk due to their lack of steerability. This thesis details the development of Manna, a system built to address these concerns. Manna provides an automated, low cost, safe steerable delivery platform, through a custom designed parafoil and guidance unit. Flight tests and simulations show that Manna can provide a safer alternative for critical air deliveries.
ContributorsSeveringhaus, Lukas (Author) / Schlichting, Audrey (Co-author) / Wende, Anthony (Thesis director) / Delp, Deana (Committee member) / Takahashi, Timothy (Committee member) / Barrett, The Honors College (Contributor) / Engineering Programs (Contributor)
Created2023-05
Description
Due to monumental advancements in large language models (LLMs), such as OpenAI's ChatGPT, there is widespread interest in integrating this general AI’s capabilities into various applications, including robotics. However, the rush to deploy this technology has left safety as an afterthought, if at all. This study investigates the potential for LLM-fused robots to operate safely in real-world settings. This study begins with a review of ChatGPT, highlighting its capabilities and current challenges, particularly with integrating LLMs into robotics, and continues with similar applications as AI agents though APIs. To assess the safety implications of LLM-driven robots, the study presents experimental methods involving the navigation of a TurtleSim robot in 2D environments when given different scenarios. Various parameters are analyzed to determine the current capabilities of ChatGPT to understand how to adjust any agents it possesses based on the situation. Current findings reveal that ChatGPT-driven robots demonstrate adaptive behavior based on the scenario provided, indicating their potential for real-time safety adjustments and eliciting further research to ensure safe and successful integration of these robots into diverse work environments.
ContributorsPisors, Jacob (Author) / Cooke, Nancy (Thesis director) / Delp, Deana (Committee member) / Barrett, The Honors College (Contributor) / Tech Entrepreneurship & Mgmt (Contributor) / Engineering Programs (Contributor)
Created2024-05
Description
Bicycles and motorcycles offer maneuverability, energy efficiency and acceleration that four wheeled vehicles cannot offer given similar budget for. Two wheeled vehicles have drastically different dynamics from four wheeled vehicles due to their instability and gyroscopic effect from their wheels.
This thesis focuses on self-stabilization of a motorcycle using an active control momentum gyroscope (CMG) and validation of this multi-degree-of-freedom system’s mathematical model. Physical platform was created to mimic the simulation as accurately as possible and all components used were justified. This process involves derivation of a 3 Degree-of-Freedom (DOF) system’s forward kinematics and its Jacobian matrix, simulation analysis of different controller algorithms, setting the system and subsystem specifications, and real system experimentation and data analysis.
A Jacobian matrix was used to calculate accurately decomposed resultant angular velocities which are used to create the dynamics model of the system torque using the Euler-Lagrange method. This produces a nonlinear second order differential equation that is modeled using MATLAB/Simulink. PID, and cascaded feedback loop are tested in this Simulink model. Cascaded feedback loop shows most promises in the simulation analysis. Therefore, system specifications are calculated according to the data produced by this controller method. The model validation is executed using the Vicon motion capture system which captured the roll angle of the motorcycle. This work contributes to creating a set of procedures for creating a validated dynamic model for a CMG stabilized motorcycle which can be used to create variants of other self-stabilizing motorcycle system.
This thesis focuses on self-stabilization of a motorcycle using an active control momentum gyroscope (CMG) and validation of this multi-degree-of-freedom system’s mathematical model. Physical platform was created to mimic the simulation as accurately as possible and all components used were justified. This process involves derivation of a 3 Degree-of-Freedom (DOF) system’s forward kinematics and its Jacobian matrix, simulation analysis of different controller algorithms, setting the system and subsystem specifications, and real system experimentation and data analysis.
A Jacobian matrix was used to calculate accurately decomposed resultant angular velocities which are used to create the dynamics model of the system torque using the Euler-Lagrange method. This produces a nonlinear second order differential equation that is modeled using MATLAB/Simulink. PID, and cascaded feedback loop are tested in this Simulink model. Cascaded feedback loop shows most promises in the simulation analysis. Therefore, system specifications are calculated according to the data produced by this controller method. The model validation is executed using the Vicon motion capture system which captured the roll angle of the motorcycle. This work contributes to creating a set of procedures for creating a validated dynamic model for a CMG stabilized motorcycle which can be used to create variants of other self-stabilizing motorcycle system.
ContributorsMoon, Hansol (Author) / Zhang, Wenlong (Thesis advisor) / Frank, Daniel (Committee member) / Delp, Deana (Committee member) / Sugar, Thomas (Committee member) / Arizona State University (Publisher)
Created2020