Matching Items (61)
Description
Unmanned aerial vehicles have received increased attention in the last decade due to their versatility, as well as the availability of inexpensive sensors (e.g. GPS, IMU) for their navigation and control. Multirotor vehicles, specifically quadrotors, have formed a fast growing field in robotics, with the range of applications spanning from surveil- lance and reconnaissance to agriculture and large area mapping. Although in most applications single quadrotors are used, there is an increasing interest in architectures controlling multiple quadrotors executing a collaborative task. This thesis introduces a new concept of control involving more than one quadrotors, according to which two quadrotors can be physically coupled in mid-flight. This concept equips the quadro- tors with new capabilities, e.g. increased payload or pursuit and capturing of other quadrotors. A comprehensive simulation of the approach is built to simulate coupled quadrotors. The dynamics and modeling of the coupled system is presented together with a discussion regarding the coupling mechanism, impact modeling and additional considerations that have been investigated. Simulation results are presented for cases of static coupling as well as enemy quadrotor pursuit and capture, together with an analysis of control methodology and gain tuning. Practical implementations are introduced as results show the feasibility of this design.
ContributorsLarsson, Daniel (Author) / Artemiadis, Panagiotis (Thesis advisor) / Marvi, Hamidreza (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2016
Description
There has been a vast increase in applications of Unmanned Aerial Vehicles (UAVs) in civilian domains. To operate in the civilian airspace, a UAV must be able to sense and avoid both static and moving obstacles for flight safety. While indoor and low-altitude environments are mainly occupied by static obstacles, risks in space of higher altitude primarily come from moving obstacles such as other aircraft or flying vehicles in the airspace. Therefore, the ability to avoid moving obstacles becomes a necessity
for Unmanned Aerial Vehicles.
Towards enabling a UAV to autonomously sense and avoid moving obstacles, this thesis makes the following contributions. Initially, an image-based reactive motion planner is developed for a quadrotor to avoid a fast approaching obstacle. Furthermore, A Dubin’s curve based geometry method is developed as a global path planner for a fixed-wing UAV to avoid collisions with aircraft. The image-based method is unable to produce an optimal path and the geometry method uses a simplified UAV model. To compensate
these two disadvantages, a series of algorithms built upon the Closed-Loop Rapid Exploratory Random Tree are developed as global path planners to generate collision avoidance paths in real time. The algorithms are validated in Software-In-the-Loop (SITL) and Hardware-In-the-Loop (HIL) simulations using a fixed-wing UAV model and in real flight experiments using quadrotors. It is observed that the algorithm enables a UAV to avoid moving obstacles approaching to it with different directions and speeds.
for Unmanned Aerial Vehicles.
Towards enabling a UAV to autonomously sense and avoid moving obstacles, this thesis makes the following contributions. Initially, an image-based reactive motion planner is developed for a quadrotor to avoid a fast approaching obstacle. Furthermore, A Dubin’s curve based geometry method is developed as a global path planner for a fixed-wing UAV to avoid collisions with aircraft. The image-based method is unable to produce an optimal path and the geometry method uses a simplified UAV model. To compensate
these two disadvantages, a series of algorithms built upon the Closed-Loop Rapid Exploratory Random Tree are developed as global path planners to generate collision avoidance paths in real time. The algorithms are validated in Software-In-the-Loop (SITL) and Hardware-In-the-Loop (HIL) simulations using a fixed-wing UAV model and in real flight experiments using quadrotors. It is observed that the algorithm enables a UAV to avoid moving obstacles approaching to it with different directions and speeds.
ContributorsLin, Yucong (Author) / Saripalli, Srikanth (Thesis advisor) / Scowen, Paul (Committee member) / Fainekos, Georgios (Committee member) / Thangavelautham, Jekanthan (Committee member) / Youngbull, Cody (Committee member) / Arizona State University (Publisher)
Created2015
Description
The ASU School of Dance presents Educed Play, with a thesis work by dance graduate Amanda Ling, performed at ASU Step Gallery.
ContributorsHerberger Institute School of Dance (Producer) / Ling, Amanda (Artist) / Lee, Inkyung (Artist) / Todorova, Rossitza (Artist) / Vissicaro, Caio (Artist)
Created2012
Description
The ASU School of Dance presents Undergraduate Projects Showing, October 25-26, with works by undergraduate dance students, performed at Margaret Gisolo Dance Studio.
ContributorsPinholster, Jacob (Director, Artistic director) / Koch, Carolyn (Production manager) / Rex, Melissa S. (Technical director, Lighting designer) / Swayze, William (Musician) / Benard, Jacqueline (Costume designer) / Mihaleva, Galina (Costume designer) / Dodt, Alli (Artistic director) / Edwards, Allison (Artistic director, Performer) / Levin, Felicia (Performer) / Hughes, Haylee (Performer) / Groom, Léla (Performer) / Gastelo, Jr., Gabriel (Lighting designer) / Singleton, Kiah (Choreographer, Lighting designer, Costume designer, Performer) / DeSantis, Kimberly (Performer) / Freirich, Gordon (Performer) / Harkey, Noah (Performer) / Nguyen, Dana (Performer) / Bartholomew, Jessica (Choreographer, Musician, Costume designer) / Dorrel, Kayla (Performer) / Johnson, Sarah (Performer) / LeBlanc, Casey (Performer) / Norris, Sarah (Performer) / Rivera, Paola (Performer) / Sammons, Rylee (Performer) / Soto, Jose (Performer) / Wardarski, Jessie (Performer) / Witzke, Nikki (Performer, Choreographer, Costume designer) / Moraco, Steve (Videographer, Videographer) / Jackson, Sydney (Choreographer, Costume designer) / Castronova, Naomi (Performer) / Garcia, Lacee (Performer) / Keefe, Shelby (Performer) / Kerr, Elena (Performer) / Waitz, Jessica (Performer) / Riojas, David (Choreographer, Costume designer) / Calvano, Jourdan (Performer) / Locker, Rain (Performer) / Pullman, Gracie (Performer) / Reis, Ashley (Performer) / Nunn, Jasmine (Choreographer, Costume designer) / Koji, Saito (Musician) / Avery, Vickie (Musician) / Salcido, Alejandro (Lighting designer) / Baker, Ashley (Performer) / Siegfried, Jordyn (Performer) / Yoder, Allyson (Performer) / Gallagher, Grace (Choreographer, Costume designer, Videographer, Performer) / Dix, Geoffrey (Musician) / Stephens, Alexis (Choreographer, Costume designer, Performer) / Keating, Zoe (Musician) / Hernandez, Martha "Patty" (Choreographer, Costume designer, Performer) / Yuen, Priscilla (Performer) / Herberger Institute School of Dance (Musician)
Created2012
Description
The ASU School of Dance presents School of Dance LIVE!, September 7-9, with works by dance faculty, performed at Galvin Playhouse.
ContributorsPinholster, Jacob (Director) / Koch, Carolyn (Artistic director, Production manager, Lighting designer) / Swayze, William (Musician, Performer, Composer) / Jones, Ben (Performer) / Mack, Austen (Performer) / Ortego, Garrett (Performer) / Benard, Jacqueline (Costume designer, Creator) / Burk, Ashley (Collaborator deprecated, use Contributor, Performer) / Arredondo, Julia (Performer) / Groom, Léla (Performer) / Giordano, Erin (Performer) / Bouey, Billie-Joe "J." (Performer) / Bartholomew, Jessica (Performer) / Chapman, Eric (Collaborator deprecated, use Contributor)) / Peterson, Haley (Collaborator deprecated, use Contributor)) / Vissicaro, Pegge (Collaborator deprecated, use Contributor)) / Mitchell, John D. (Designer, Musician) / Standley, Eileen (Designer, Choreographer, Performer) / Kyriakides, Yannis (Composer) / Tomooka, Kayla (Performer) / Waitz, Jessica (Performer) / McNutt, Eden (Costume designer, Performer) / DeWitt, Inertia (Musician, Performer) / Murphey, Claudia (Director, Interviewer) / Mumford, Jessica (Videographer, Editor) / Britt, Melissa (Choreographer, Costume designer, Performer) / Alvarez, Emily (Musician) / Salcido, Alejandro (Lighting designer) / Calleros, Vince (Performer) / Dimmick, Saza (Performer) / Granado, Michaela (Performer) / Kusch, Liz (Performer) / Lopez, Cassidy (Performer) / Kaplan, Rob (Composer, Performer) / Rex, Melissa S. (Choreographer, Lighting designer, Technical director) / Bocchino, Corinne (Performer, Performer) / Mihaleva, Galina (Costume designer, Creator) / Cooper, Carol (Performer) / Crissman, Angel (Performer) / Bouey, J (Performer) / Bouey, Majee (Performer) / Bouey, Najee (Performer) / Matthews, Emily (Performer) / Vago, Haley (Performer) / Witzke, Nikki (Performer) / Goodson, Naomi (Performer) / Levin, Felicia (Performer) / Gonzales, Anthony (Performer) / Hughs, Haylee (Performer) / Ling, Amanda (Performer) / Pourzal, Kristopher K. Q. (Performer) / Munoz, Jessica (Performer) / Peterson, Britta (Performer) / Poto, Ana Maria (Performer) / Rickert, Austin (Performer) / Schupp, Karen (Director, Costume designer, Performer) / McMahon Ward, Frances (Editor) / Khoilian, Jarek (Cinematographer) / Heath, Jason (Musician) / Page, Martin (Composer) / Fairweather, Brian (Composer) / Thornton, Trevor (Composer) / Richardson, Chris (Composer) / Fitzgerald, Mary (Choreographer, Performer) / Ford, Lindsey (Performer) / Garibay, Elissa (Performer) / Barrett, Kristen (Performer) / Herberger Institute School of Dance (Musician)
Created2012
Description
The ASU School of Dance presents Emerging Artists I, February 9-12, with works by guest artists, dance faculty, and students, performed at Dance Studio Theatre, PEBE 132.
ContributorsSedlack, Kate (Choreographer, Lighting designer, Costume designer) / Bormann, Megan (Dancer) / Brack, Ashley (Dancer) / Hauk, Chelsey (Dancer) / Koeppel, Alex (Dancer) / Pesque, Julia (Dancer) / Roberts, Cassie (Dancer) / Roethler, Eva (Dancer) / Spenceley, Jenni (Dancer) / Trujillo, David (Dancer) / Fitzgerald, Mary (Artistic director, Choreographer, Lighting designer, Costume designer) / Ammerman, Mark C. (Technical director, Set designer, Lighting designer) / Benard, Jacqueline (Costume designer) / Mihaleva, Galina (Costume designer) / Swayze, William (Sound designer, Composer) / Archambault, Jared (Stage manager) / King, Natalie (Dancer) / Skrentny, Adrian (Choreographer, Lighting designer, Costume designer, Set designer, Dancer) / Bajromovic, Saban (Musician) / Parsons, Niamh (Musician) / Cortez, Sarah (Dancer) / Galindo, Rolanda (Dancer) / Kenworthy, Julianna (Dancer, Choreographer, Costume designer) / Kriston, Jordan (Dancer) / Wong, Jennifer (Dancer) / Taylor, Michelle (Choreographer) / Hart, Keira (Lighting designer) / Smith, Vanessa (Costume designer, Dancer) / Chesley, Andrea (Choreographer, Lighting designer, Costume designer, Dancer) / Chappman, Richard (Composer, Performer) / Childers, Emily (Dancer) / Cortez, Maggie (Dancer) / Howe, Martha E. (Choreographer) / Blake, Casey (Lighting designer) / Blukis, Audrey (Dancer) / Holcman, Sarah (Choreographer, Lighting designer, Costume designer, Set designer) / Lecuona, Margarita (Musician) / Santaolalla, Gustavo (Musician) / Aste, Cuti (Musician) / Lobos, Jorge (Musician) / Zamora, Maria Esther (Musician) / González, Polito (Musician) / Lindl, Roberto (Musician) / Sternke, Amy (Dancer) / Anderson, Laurie (Musician) / McGloin, Aaron (Lighting designer) / Bingle, Meghan (Dancer) / Jordan, Paul (Dancer) / Kuo, Alexis I-Cheng (Dancer) / Lederman, Christiana (Dancer) / Lerner, Kristin (Dancer) / Parish, Sara (Dancer) / Hatzis, Amy E. (Choreographer, Composer, Costume designer, Lighting designer) / Dumont, Marguerite (Dancer) / Ebling, Brett (Dancer) / Kettner, Lauren (Dancer) / Pannier, Nicci (Dancer) / Kelley, Jean (Costume designer, Dancer) / Monk, Meredith (Composer) / Kriston, Micah (Choreographer, Lighting designer, Costume designer) / Fox, Stacey (Cinematographer) / Herberger Institute School of Dance (Musician)
Created2006
Description
The ASU School of Dance presents Rhythms of Life, November 3-5, with works by guest artists performed at Dance Studio Theatre, PEBE 132.
ContributorsVissicaro, Pegge (Artistic director) / Mooney, Elina (Artistic director) / Koch, Carolyn (Production manager) / Ammerman, Mark C. (Technical director, Lighting designer, Set designer) / Mihaleva, Galina (Costume designer) / Benard, Jacqueline (Costume designer) / Swayze, William (Sound designer) / Valentin-Martinez, Joel (Artistic director, Choreographer) / Amegago, Modesto Mawulolo (Performer) / Chipaumire, Nora (Performer, Choreographer) / Butty, Tamba (Director, Performer) / Bodou, Princess (Performer) / Byne, Princess (Performer) / Dogbeh, Decontee (Performer) / Fredericks, Roseline (Performer) / Gaie, Aaron (Performer) / Morris, Janet (Performer) / Morris, Musa (Performer) / Morris, Musu (Performer) / Morris, Peace (Performer) / Morris, Viddy (Performer) / Nyankum, William (Performer) / Toe, Eliza (Performer) / Wallace, Chuco Glen (Performer) / Caldee, Víctor (Director, Performer) / Cactellanos, Yaisa Pérez (Performer) / Rodíguez, Edwin J (Performer) / Alvarez, Idalberto (Performer) / Becerra, Jhon (Performer) / Domínguez, Miguel (Performer) / Wilson, Sule Greg C. (Choreographer, Performer) / Downs, Lila (Musician) / Milam, Nichole (Dancer) / Verrelli, Emily (Dancer) / Yanez, Avery (Dancer) / Silvestre, Rosangela (Choreographer) / Lunn, Dani (Dancer, Dancer) / Badaró, Luiz (Musician) / Edwards, Margit (Dancer) / Brundage, Kirk (Musician) / Pallais, Mario (Musician) / Moraes, Katia (Vocalist deprecated, use Singer)) / dos Santos, Maria Lourdes Silvestre (Costume designer) / Williams, Shelby (Dancer) / Jones, Erica (Dancer) / Abdullah, Laila (Dancer) / Mullen, Kimberly (Dancer) / Yulin, Linda (Dancer) / Oliveira, Valter (Costume designer)
Created2006
Description
The ASU School of Dance presents Graduate Presentations, November 1, with works by dance graduate students, performed at Dance Studio Theatre, PEBE 132.
ContributorsWoolridge, Holly (Choreographer, Performer) / de Haïdouks, Taraf (Composer) / Orkestar, Koçani (Composer) / Price, Meghan (Choreographer, Choreographer, Editor) / Levinson, Drew (Musician) / Monk, Meredith (Musician) / Posthumus, E.S. (Musician) / Quinal, Liz (Dancer) / Klassen, Katy (Dancer) / Tovson, Kristin (Choreographer) / Doherty, Kelley (Collaborator deprecated, use Contributor, Dancer) / Martinez, Christopher (Musician) / Olaf Hund Vs. Ursari de Clejani (Composer)
Created2007
Description
The ASU School of Dance presents Celebrating the Nagrin Legend, September 16-18, with works by dance faculty and visiting artists, performed at the Galvin Playhouse Theatre.
ContributorsNagrin, Daniel (Choreographer) / O'Hara, Shane (Performer) / Mooney, Elina (Choreographer, Dancer, Artistic director) / Cage, John (Musician) / Bolcom, William (Musician) / Ammerman, Mark C. (Set designer, Technical director) / Mihaleva, Galina (Costume designer, Set designer) / Benard, Jacqueline (Costume designer, Set designer) / Waters, Renee (Dancer) / Keuter, Cliff (Choreographer) / Chopin, Frederic (Musician) / Ammerman, Candace (Dancer) / Robins, Amber (Dancer) / Sobotnik, Morton (Musician) / Morita, Theodora (Musician) / Pitot, Genevieve (Musician) / Juste, Roxane D'Orleans (Dancer) / Kenton, Stan (Musician) / Rugolo, Pete (Musician) / Swayze, William (Sound designer)
Created2005
Description
The ASU School of Dance presents New Danceworks I, October 20-23, with works by dance graduate students, performed at the Dance Studio Theatre, PEBE 132.
ContributorsBlake, Casey (Choreographer) / Niehaus, AJ (Choreographer, Composer, Costume designer, Dancer, Set designer) / Fellenz, Aaron (Lighting designer) / Niehaus, Susan (Costume designer) / Bingle, Meghan (Dancer) / Rajko, Stjepan (Dancer, Dancer) / Ryan, Rachel (Dancer) / Wong, Siew (Dancer) / Hart, Keira (Choreographer, Lighting designer, Set designer, Dancer) / Ammerman, Mark C. (Lighting designer, Technical director) / Holcman, Sarah (Dancer, Performer) / Kriston, Jordan (Dancer) / Lederman, Christiana (Dancer) / McGloin, Aaron (Dancer, Performer) / Iglesias, Alberto (Musician) / Burnett, Cherie (Dancer) / Kelley, Jean (Dancer) / Kemmerer, Shelley (Dancer) / Piver, Harper (Dancer) / Richardson, Katheryn (Dancer) / Young, Liz (Choreographer, Costume designer) / Stevens, Sufjan (Composer) / Nielsdottir, Sigridur (Composer) / Shustankovich, Dmitri (Composer) / Everett, Mark Oliver (Composer) / Wainright, Rufus (Composer) / Coates, Steven (Composer) / Swayze, William (Sound designer) / Atwood, Laura (Lighting designer, Stage manager) / Burns, Tuey (Performer) / Howe, Martha (Performer) / Kenworthy, Julianna (Performer) / Maywald, Marilyn (Performer) / Parish, Sara (Performer) / Richardson, Kathryn (Performer) / Wajih, Sonja (Performer) / Tsukayama, Jennifer (Artistic director) / Benard, Jacqueline (Costume designer) / Galina, Mihaleva (Costume designer)
Created2005