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- Creators: Barrett, The Honors College
Description
Modern measurement schemes for linear dynamical systems are typically designed so that different sensors can be scheduled to be used at each time step. To determine which sensors to use, various metrics have been suggested. One possible such metric is the observability of the system. Observability is a binary condition determining whether a finite number of measurements suffice to recover the initial state. However to employ observability for sensor scheduling, the binary definition needs to be expanded so that one can measure how observable a system is with a particular measurement scheme, i.e. one needs a metric of observability. Most methods utilizing an observability metric are about sensor selection and not for sensor scheduling. In this dissertation we present a new approach to utilize the observability for sensor scheduling by employing the condition number of the observability matrix as the metric and using column subset selection to create an algorithm to choose which sensors to use at each time step. To this end we use a rank revealing QR factorization algorithm to select sensors. Several numerical experiments are used to demonstrate the performance of the proposed scheme.
ContributorsIlkturk, Utku (Author) / Gelb, Anne (Thesis advisor) / Platte, Rodrigo (Thesis advisor) / Cochran, Douglas (Committee member) / Renaut, Rosemary (Committee member) / Armbruster, Dieter (Committee member) / Arizona State University (Publisher)
Created2015
Description
Image stabilization is a highly desired feature for many systems involving cameras. A camera stabilizer effectively prevents or compensates for unwanted camera movement to provide this stabilization. The use of stabilized camera technology on board aerial vehicles is one such application where the stabilization can greatly improve the overall capability of the system. The requirements for such a system include a continuous control algorithm and hardware to determine and adjust the camera orientation. The topic of developing an aerial camera control and electronic stabilization system is thus explored in the contents of this paper.
ContributorsJauregui, Joseph (Co-author) / Brown, Steven (Co-author) / Burger, Kevin (Thesis director) / Hansen, Mark (Committee member) / Barrett, The Honors College (Contributor) / Computer Science and Engineering Program (Contributor)
Created2014-05
Description
This study aims to showcase the results of a quadrotor model and the mathematical techniques used to arrive at the proposed design. Multicopters have made an explosive appearance in recent years by the controls engineering community because of their unique flight performance capabilities and potential for autonomy. The ultimate goal of this research is to design a robust control system that guides and tracks the quadrotor's trajectory, while responding to outside disturbances and obstacles that will realistically be encountered during flight. The first step is to accurately identify the physical system and attempt to replicate its behavior with a simulation that mimics the system's dynamics. This becomes quite a complex problem in itself because many realistic systems do not abide by simple, linear mathematical models, but rather nonlinear equations that are difficult to predict and are often numerically unstable. This paper explores the equations and assumptions used to create a model that attempts to match roll and pitch data collected from multiple test flights. This is done primarily in the frequency domain to match natural frequency locations, which can then be manipulated judiciously by altering certain parameters.
ContributorsDuensing, Jared Christopher (Author) / Takahashi, Timothy (Thesis director) / Garrett, Frederick (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-05
Description
In this project, an existing waveform generator designed by the vagus nerve stimulation (VNS) technology firm Hoolest Performance Technologies was modified and characterized. Voltage feedback and current feedback systems were designed in order to improve output voltage and current regulation. A wireless communication system was implemented onboard the newly designed waveform generator in order to improve user experience and allow the system to be controlled remotely. Finally, a custom printed circuit board was designed according to the established circuit schematics for the above components, and the layout was miniaturized to a total board footprint area of 1.5 square inches. The completed device was characterized according to several figures of merit including current consumption, voltage and current regulation, and short-circuit behavior.
ContributorsPatterson, John Michael (Author) / Kozicki, Michael (Thesis director) / Mian, Sami (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
This project compared two optimization-based formulations for solving multi-robot task allocation problems with tether constraints. The first approach, or the ”Iterative Method,” used the common multiple traveling salesman (mTSP) formulation and implemented an algorithm over the formulation to filter out solutions that failed to satisfy the tether constraint. The second approach, named the ”Timing Formulation,” involved constructing a new formulation specifically designed account for robot timings, including the tether constraint in the formulation itself. The approaches were tested against each other in 10-city simulations and the results were compared. The Iterative Method could provide answers in 1- and 2-norm variations quickly, but its mTSP model formulation broke down and became infeasible at low city numbers. The 1-norm Timing Formulation quickly and reliably produced solutions but faced high computation times in its 2-norm manifestation. Ultimately, while the Timing Formulation is a more optimal method for solving tether-constrained task allocation problems, its reliance on the 1-norm for low computation times causes it to sacrifice some realism.
ContributorsGoodwin, Walter (Author) / Yong, Sze Zheng (Thesis director) / Grewal, Anoop (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2022-05
ContributorsGoodwin, Walter (Author) / Yong, Sze Zheng (Thesis director) / Grewal, Anoop (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2022-05
ContributorsGoodwin, Walter (Author) / Yong, Sze Zheng (Thesis director) / Grewal, Anoop (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2022-05