You searched for +publisher:"Georgia Tech" +contributor:("Sadegh, Nader").
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1.
Kalghatgi, Roshan Satish.
Reconstruction techniques for fixed 3-D lines and fixed 3-D points using the relative pose of one or two cameras.
Degree: MS, Mechanical Engineering, 2012, Georgia Tech
URL: http://hdl.handle.net/1853/43590 
► In general, stereovision can be defined as a two part problem. The first is the correspondence problem. This involves determining the image point in each…
(more)
▼ In general, stereovision can be defined as a two part problem. The first is the correspondence problem. This involves determining the image point in each image of a set of images that correspond to the same physical point P. We will call this set of image points, N. The second problem is the reconstruction problem. Once a set of image points, N, that correspond to point P has been determined, N is then used to extract three dimensional information about point P.
This master's thesis presents three novel solutions to the reconstruction problem. Two of the techniques presented are for detecting the location of a 3-D point and one for detecting a line expressed in a three dimensional coordinate system. These techniques are tested and validated using a unique 3-D finger detection algorithm. The techniques presented are unique because of their simplicity and because they do not require the cameras to be placed in specific locations, orientations or have specific alignments. On the contrary, it will be shown that the techniques presented in this thesis allow the two cameras used to assume almost any relative pose provided that the object of interest is within their field of view.
The relative pose of the cameras at a given instant in time, along with basic equations from the perspective image model are used to form a system of equations that when solved, reveal the 3-D coordinates of a particular fixed point of interest or the three dimensional equation of a fixed line of interest. Finally, it will be shown that a single moving camera can successfully perform the same line and point detection accomplished by two cameras by altering the pose of the camera.
The results presented in this work are beneficial to any typical stereovision application because of the computational ease in comparison to other point and line reconstruction techniques. But more importantly, this work allows for a single moving camera to perceive three-dimensional position information, which effectively removes the two camera constraint for a stereo vision system. When used with other monocular cues such as texture or color, the work presented in this thesis could be as accurate as binocular stereo vision at interpreting three dimensional information. Thus, this work could potentially increase the three dimensional perception of a robot that normally uses one camera, such as an eye-in-hand robot or a snake like robot.
Advisors/Committee Members: Sadegh, Nader (Committee Chair).
Subjects/Keywords: Machine vision; 3-D reconstruction; Stereovision; Monocular vision; Computer vision; Reconstruction; Three-dimensional imaging; Image reconstruction
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APA (6th Edition):
Kalghatgi, R. S. (2012). Reconstruction techniques for fixed 3-D lines and fixed 3-D points using the relative pose of one or two cameras. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/43590
Chicago Manual of Style (16th Edition):
Kalghatgi, Roshan Satish. “Reconstruction techniques for fixed 3-D lines and fixed 3-D points using the relative pose of one or two cameras.” 2012. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/43590.
MLA Handbook (7th Edition):
Kalghatgi, Roshan Satish. “Reconstruction techniques for fixed 3-D lines and fixed 3-D points using the relative pose of one or two cameras.” 2012. Web. 12 Apr 2021.
Vancouver:
Kalghatgi RS. Reconstruction techniques for fixed 3-D lines and fixed 3-D points using the relative pose of one or two cameras. [Internet] [Masters thesis]. Georgia Tech; 2012. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/43590.
Council of Science Editors:
Kalghatgi RS. Reconstruction techniques for fixed 3-D lines and fixed 3-D points using the relative pose of one or two cameras. [Masters Thesis]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/43590
2.
Domingue, Beau B.
Coordinated rate control user interface and task identification of an excavator.
Degree: MS, Mechanical Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/56373
► Excavators are ubiquitous machines used in construction and agriculture globally. Many fluid power machines, including excavators, are operated directly by humans. For this reason, the…
(more)
▼ Excavators are ubiquitous machines used in construction and agriculture globally. Many fluid power machines, including excavators, are operated directly by humans. For this reason, the efficacy of the communication channels between the human and machine have a high impact on system performance. While current excavator controls have been mastered by experts in the field, novel methods of control can improve operator performance and accelerate the learning process for novice operators. The current state of the art in excavator control uses 2 dual degree of freedom joysticks to control the flow to each of the excavator joints. There is a steep learning curve associated with this interface due to the large cognitive load it places on the operator. A coordinated rate control scheme was developed to alleviate the need for the operator to mentally perform the inverse kinematics of the linkage, and implemented using the standard joysticks to ensure compatibility with current state of the art hardware. In a 20 person experiment, subjects using coordinated rate control consistently removed more soil/time and soil/fuel than subjects using the conventional control. A novel method of task identification was developed to determine which phase of a trenching cycle the excavator is in at each time step. A supervised Artificial Neural Network with eight inputs, the four joystick velocity inputs and four joint positions, is used to classify the data into one of the three phases of a trenching cycle: dig, unload, and return. The ability to segment data enabled further analysis of the controllers within each phase, and can potentially be used to change the hydraulic priorities real time or to augment the operator input to achieve an optimal command.
Advisors/Committee Members: Book, Wayne (advisor), Young, Aaron (advisor), Sadegh, Nader (committee member).
Subjects/Keywords: Task identification; Coordinated control
…been evaluated through a 20 person human subject experiment on the Georgia Tech Excavator… …the Georgia Tech
excavator simulator
0 hrs
0 − 2 hrs
2 − 5 hrs
5 − 10 hrs
> 10 hrs…
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APA (6th Edition):
Domingue, B. B. (2016). Coordinated rate control user interface and task identification of an excavator. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/56373
Chicago Manual of Style (16th Edition):
Domingue, Beau B. “Coordinated rate control user interface and task identification of an excavator.” 2016. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/56373.
MLA Handbook (7th Edition):
Domingue, Beau B. “Coordinated rate control user interface and task identification of an excavator.” 2016. Web. 12 Apr 2021.
Vancouver:
Domingue BB. Coordinated rate control user interface and task identification of an excavator. [Internet] [Masters thesis]. Georgia Tech; 2016. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/56373.
Council of Science Editors:
Domingue BB. Coordinated rate control user interface and task identification of an excavator. [Masters Thesis]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/56373
Georgia Tech
3.
Ramachandran, Adithya.
HEV fuel optimization using interval back propagation based dynamic programming.
Degree: MS, Mechanical Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/55054
► In this thesis, the primary powertrain components of a power split hybrid electric vehicle are modeled. In particular, the dynamic model of the energy storage…
(more)
▼ In this thesis, the primary powertrain components of a power split hybrid electric vehicle are modeled. In particular, the dynamic model of the energy storage element (i.e., traction battery) is exactly linearized through an input transformation method to take advantage of the proposed optimal control algorithm. A lipschitz continuous and nondecreasing cost function is formulated in order to minimize the net amount of consumed fuel. The globally optimal solution is obtained using a dynamic programming routine that produces the optimal input based on the current state of charge and the future power demand. It is shown that the global optimal control solution can be expressed in closed form for a time invariant and convex incremental cost function utilizing the interval back propagation approach. The global optimality of both time varying and invariant solutions are rigorously proved. The optimal closed form solution is further shown to be applicable to the time varying case provided that the time variations of the incremental cost function are sufficiently small. The real time implementation of this algorithm in Simulink is discussed and a 32.84 % improvement in fuel economy is observed compared to existing rule based methods.
Advisors/Committee Members: Leamy, Michael J. (advisor), Taylor, David G. (advisor), Sadegh, Nader (advisor).
Subjects/Keywords: HEV; Dynamic programming; Interval back propagation; Optimization; Convexity; Real time implementation
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APA (6th Edition):
Ramachandran, A. (2016). HEV fuel optimization using interval back propagation based dynamic programming. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/55054
Chicago Manual of Style (16th Edition):
Ramachandran, Adithya. “HEV fuel optimization using interval back propagation based dynamic programming.” 2016. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/55054.
MLA Handbook (7th Edition):
Ramachandran, Adithya. “HEV fuel optimization using interval back propagation based dynamic programming.” 2016. Web. 12 Apr 2021.
Vancouver:
Ramachandran A. HEV fuel optimization using interval back propagation based dynamic programming. [Internet] [Masters thesis]. Georgia Tech; 2016. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/55054.
Council of Science Editors:
Ramachandran A. HEV fuel optimization using interval back propagation based dynamic programming. [Masters Thesis]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/55054
Georgia Tech
4.
Repola, Caroline R.
Implementation and tuning of an extended expert control system for helicopter autorotation and development of a nonlinear model of electric drives to be used in the optimization of torque performance.
Degree: MS, Mechanical Engineering, 2017, Georgia Tech
URL: http://hdl.handle.net/1853/59179
► This thesis covers two separate investigations under the topic of control. The first is the design and tuning of a fuzzy logic controller for Human-in-the-Loop…
(more)
▼ This thesis covers two separate investigations under the topic of control. The first is the design and tuning of a fuzzy logic controller for Human-in-the-Loop (HITL) helicopter autorotation. The second is the exploration of an optimized pulse pattern for the control of an electric drive with focus on the development of the mathematical model of the drive.
Part One of this thesis discusses the autorotation controller. Helicopter autorotation is the operation a pilot performs when power is no longer supplied to the main rotor and an emergency landing is required. A controller was developed that allowed an autonomously controlled helicopter to perform an autorotation, an ‘expert skill’ more easily learned by human pilots. This controller is used in this thesis to create a tool that brings the computer and human together. The tuning process of the autorotation controller is described in detail. The controller used has five stages of operation; the transitions between these stages occur through a fuzzy logic determination. The results of the tuning bring about a successful autorotation in a simulated environment. The specific model of the controller developed in this thesis can be used in a different system to supply commands to a human pilot, aiding in the decisions during an autorotation.
Part Two of this thesis covers the development of the mathematical model of an electric drive and an optimization scheme to find a ‘better’ switching sequence for control. The goal of the model is to use it to find a better switching sequence, where better means fewer switching events as well as hitting targets of other key performance indicators (KPIs). The idea explored in this thesis is controlling the drive based on direct manipulation of the switches instead of indirectly through voltage or current. The mathematical model focusing on the switches is important to develop to facilitate the exploration of this control. Two different methods for developing this model are described. The first is a manually switched model based on examining every possible state of the drive. The second method is a non-smooth differential algebraic equation (DAE) approach, a more sophisticated mathematical approach that describes every state of the drive in one set of equations. An optimization scheme using model predictive control (MPC) is described. The focus of the optimization is the torque output of the motor and the number of switching events. The optimization would use the model developed in the thesis.
Advisors/Committee Members: Rogers, Jonathan (advisor), Sadegh, Nader (committee member), Leine, Remco (committee member), Sawodny, Oliver (committee member).
Subjects/Keywords: Helicopter autorotation; Fuzzy logic control; Human-in-the-Loop control; Electric drive; Nonlinear model; Multi-objective optimization
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APA (6th Edition):
Repola, C. R. (2017). Implementation and tuning of an extended expert control system for helicopter autorotation and development of a nonlinear model of electric drives to be used in the optimization of torque performance. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/59179
Chicago Manual of Style (16th Edition):
Repola, Caroline R. “Implementation and tuning of an extended expert control system for helicopter autorotation and development of a nonlinear model of electric drives to be used in the optimization of torque performance.” 2017. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/59179.
MLA Handbook (7th Edition):
Repola, Caroline R. “Implementation and tuning of an extended expert control system for helicopter autorotation and development of a nonlinear model of electric drives to be used in the optimization of torque performance.” 2017. Web. 12 Apr 2021.
Vancouver:
Repola CR. Implementation and tuning of an extended expert control system for helicopter autorotation and development of a nonlinear model of electric drives to be used in the optimization of torque performance. [Internet] [Masters thesis]. Georgia Tech; 2017. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/59179.
Council of Science Editors:
Repola CR. Implementation and tuning of an extended expert control system for helicopter autorotation and development of a nonlinear model of electric drives to be used in the optimization of torque performance. [Masters Thesis]. Georgia Tech; 2017. Available from: http://hdl.handle.net/1853/59179
5.
Pei, Dekun.
Development of simulation tools, control strategies, and a hybrid vehicle prototype.
Degree: MS, Mechanical Engineering, 2012, Georgia Tech
URL: http://hdl.handle.net/1853/45904
► This thesis (1) reports the development of simulation tools and control strategies for optimizing hybrid electric vehicle (HEV) energy management, and (2) reports the design…
(more)
▼ This thesis (1) reports the development of simulation tools and control strategies for optimizing hybrid electric vehicle (HEV) energy management, and (2) reports the design and testing of a hydraulic hybrid school bus (HHB) prototype. A hybrid vehicle is one that combines two or more energy sources for use in vehicle propulsion. Hybrid electric vehicles have become popular in the consumer market due to their greatly improved fuel economy over conventional vehicles. The control strategy of an HEV has a paramount effect on its fuel economy performance. In this thesis, backward-looking and forward-looking simulations of three HEV architectures (parallel, power-split and 2-mode power-split) are developed. The Equivalent Cost Minimization Strategy (ECMS), which weights electrical power as an equivalent fuel usage, is then studied in great detail and improvements are suggested. Specifically, the robustness of an ECMS controller is improved by linking the equivalence factor to dynamic programming and then further tailoring its functional form. High-fidelity vehicle simulations over multiple drive-cycles are performed to measure the improved performance of the new ECMS controller, and to show its potential for online application.
While HEVs are prominent in the consumer market and studied extensively in current literature, hydraulic hybrid vehicles (HHVs) only exist as heavy utility vehicle prototypes. The second half of this thesis reports design, construction, and testing of a hydraulic hybrid school bus prototype. Design considerations, simulation results, and preliminary testing results are reported, which indicate the strong potential for hydraulic hybrids to improve fuel economy in the school bus vehicle segment.
Advisors/Committee Members: Leamy, Michael J. (Committee Chair), Ferri, Aldo A. (Committee Member), Sadegh, Nader (Committee Member).
Subjects/Keywords: Hydraulic hybrid vehicle; Hybrid; Prius; Dynamic programming; Hybrid electric vehicle; Optimal control; ECMS; DP; Equivalent cost minimization strategy; Energy consumption; Hybrid electric cars; Electric automobiles; Electric automobiles Research
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APA (6th Edition):
Pei, D. (2012). Development of simulation tools, control strategies, and a hybrid vehicle prototype. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/45904
Chicago Manual of Style (16th Edition):
Pei, Dekun. “Development of simulation tools, control strategies, and a hybrid vehicle prototype.” 2012. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/45904.
MLA Handbook (7th Edition):
Pei, Dekun. “Development of simulation tools, control strategies, and a hybrid vehicle prototype.” 2012. Web. 12 Apr 2021.
Vancouver:
Pei D. Development of simulation tools, control strategies, and a hybrid vehicle prototype. [Internet] [Masters thesis]. Georgia Tech; 2012. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/45904.
Council of Science Editors:
Pei D. Development of simulation tools, control strategies, and a hybrid vehicle prototype. [Masters Thesis]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/45904
6.
Ramaswamy, Nikhil.
Development of control strategies to optimize the fuel economy of hybrid electric vehicles.
Degree: MS, Mechanical Engineering, 2014, Georgia Tech
URL: http://hdl.handle.net/1853/51887
► This thesis (1) reports a new Dynamic Programming (DP) approach, and (2) reports a Real Time Control strategy to optimize the energy management of a…
(more)
▼ This thesis (1) reports a new Dynamic Programming (DP) approach, and (2) reports a Real Time Control strategy to optimize the energy management of a Hybrid Electric Vehicle(HEV). Increasing environmental concerns and rise in fuel prices in recent years has escalated interest in fuel efficient vehicles from government, consumers and car manufacturers. Due to this, Hybrid electric vehicles (HEV) have gained popularity in recent years. HEV’s have two degrees of freedom for energy flow controls, and hence the performance of a HEV is strongly dependent on the control of the power split between thermal and electrical power sources. In this thesis backward-looking and forward-looking control strategies for two HEV architectures namely series and parallel HEV are developed.
The new DP approach, in which the state variable is not discretized, is first introduced and a theoretical base is established. We then prove that the proposed DP produces globally optimal solution for a class of discrete systems. Then it is applied to optimize the fuel economy of HEV's. Simulations for the parallel and series HEV are then performed for multiple drive cycles and the improved fuel economy obtained by the new DP is compared to existing DP approaches. The results are then studied in detail and further improvements are suggested.
A new Real Time Control Strategy (RTCS) based on the concept of preview control for online implementation is also developed in this thesis. It is then compared to an existing Equivalent Cost Minimization Strategy (ECMS) which does not require data to be known apriori. The improved fuel economy results of the RTCS for the series and parallel HEV are obtained for standard drive cycles and compared with the ECMS results
Advisors/Committee Members: Sadegh, Nader (advisor), Taylor, David (committee member), Costello, Mark (committee member).
Subjects/Keywords: Modeling and simulation; Control strategies; Hybrid electric vehicles; Hybrid electric cars; Dynamic programming; Control thoery
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APA (6th Edition):
Ramaswamy, N. (2014). Development of control strategies to optimize the fuel economy of hybrid electric vehicles. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51887
Chicago Manual of Style (16th Edition):
Ramaswamy, Nikhil. “Development of control strategies to optimize the fuel economy of hybrid electric vehicles.” 2014. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/51887.
MLA Handbook (7th Edition):
Ramaswamy, Nikhil. “Development of control strategies to optimize the fuel economy of hybrid electric vehicles.” 2014. Web. 12 Apr 2021.
Vancouver:
Ramaswamy N. Development of control strategies to optimize the fuel economy of hybrid electric vehicles. [Internet] [Masters thesis]. Georgia Tech; 2014. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/51887.
Council of Science Editors:
Ramaswamy N. Development of control strategies to optimize the fuel economy of hybrid electric vehicles. [Masters Thesis]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51887
7.
Miller, Alexander S.
Dynamics and control of dual-hoist cranes moving distributed payloads.
Degree: MS, Mechanical Engineering, 2015, Georgia Tech
URL: http://hdl.handle.net/1853/54457
► Crane motion induces payload oscillation that makes accurate positioning of the payload a challenging task. As the payload size increases, it may be necessary to…
(more)
▼ Crane motion induces payload oscillation that makes accurate positioning of the payload a challenging task. As the payload size increases, it may be necessary to utilize multiple cranes for better control of the payload position and orientation. However, simultaneously maneuvering multiple cranes to transport a single payload increases the complexity and danger of the operation.
This thesis investigates the dynamics and control of dual-hoist bridge cranes transporting distributed payloads. Insights from this dynamic analysis were used to design input shapers that reduce payload oscillation originating from various crane motions. Also, studies were conducted to investigate the effect input shaping has on the performance of human operators using a dual-hoist bridge crane to transport distributed payloads through an obstacle course. In each study, input shaping significantly improved the task completion time. Furthermore, input-shaping control greatly decreased operator effort, as measured by the number of interface button pushes needed to complete a task. These results clearly demonstrate the benefit of input-shaping control on dual-hoist bridge cranes.
In addition, a new system identification method that utilizes input shaping for determining the modal frequencies and relative amplitude contributions of individual modes was developed to aid in the dynamic analysis of dual-hoist bridge cranes, as well as other multi-mode systems. This method uses a new type of input shaper to suppress all but one mode to a low level. The shaper can also be used to bring a small-amplitude mode to light by modifying one of the vibration constraints.
Advisors/Committee Members: Singhose, William (advisor), Ueda, Jun (committee member), Sadegh, Nader (committee member).
Subjects/Keywords: Vibration; Oscillation; Input shaping; Crane control; System identification; Command shaping
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APA ·
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APA (6th Edition):
Miller, A. S. (2015). Dynamics and control of dual-hoist cranes moving distributed payloads. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/54457
Chicago Manual of Style (16th Edition):
Miller, Alexander S. “Dynamics and control of dual-hoist cranes moving distributed payloads.” 2015. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/54457.
MLA Handbook (7th Edition):
Miller, Alexander S. “Dynamics and control of dual-hoist cranes moving distributed payloads.” 2015. Web. 12 Apr 2021.
Vancouver:
Miller AS. Dynamics and control of dual-hoist cranes moving distributed payloads. [Internet] [Masters thesis]. Georgia Tech; 2015. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/54457.
Council of Science Editors:
Miller AS. Dynamics and control of dual-hoist cranes moving distributed payloads. [Masters Thesis]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/54457
8.
Peng, Chen Chih.
Interfaces and control systems for intuitive crane control.
Degree: MS, Mechanical Engineering, 2009, Georgia Tech
URL: http://hdl.handle.net/1853/31782
► Cranes occupy a crucial role within the industry. They are used throughout the world in thousands of shipping yards, construction sites, and warehouses. However, payload…
(more)
▼ Cranes occupy a crucial role within the industry. They are used throughout the world in thousands of shipping yards, construction sites, and warehouses. However, payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. Manipulation difficulty is also increased by non-intuitive crane control interfaces. Intuitiveness is characterized by ease of learning, simplicity, and predictability. This thesis addresses the issue of intuitive crane control in two parts: the design of the interface, and the design of the controller.
Three novel types of crane control interface are presented. These interfaces allow an operator to drive a crane by moving his or her hand freely in space. These control interfaces are dependent on machine vision and radio-frequency-based technology.
The design of the controller based on empirical means is also discussed. Various control architectures were explored. It was concluded that a controller with an input shaper within a Proportional Derivative feedback loop produced the desirable crane response. The design of this controller is complemented with a structured design methodology based on root locus analysis and computer numerical methods.
The intuitive crane control systems were implemented on a 10-ton industrial bridge crane; simulation and experimental results are presented for validation purposes.
Advisors/Committee Members: Singhose, William (Committee Chair), Sadegh, Nader (Committee Member), Ueda, Jun (Committee Member).
Subjects/Keywords: Intuitive; Crane control; Hand-motion; Cranes, derricks, etc Automatic control; Human-machine systems
…Bridge Crane in the Georgia Tech MaRC building
Bridge Control Box
To Bridge
& Trolley
Motors…
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APA (6th Edition):
Peng, C. C. (2009). Interfaces and control systems for intuitive crane control. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/31782
Chicago Manual of Style (16th Edition):
Peng, Chen Chih. “Interfaces and control systems for intuitive crane control.” 2009. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/31782.
MLA Handbook (7th Edition):
Peng, Chen Chih. “Interfaces and control systems for intuitive crane control.” 2009. Web. 12 Apr 2021.
Vancouver:
Peng CC. Interfaces and control systems for intuitive crane control. [Internet] [Masters thesis]. Georgia Tech; 2009. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/31782.
Council of Science Editors:
Peng CC. Interfaces and control systems for intuitive crane control. [Masters Thesis]. Georgia Tech; 2009. Available from: http://hdl.handle.net/1853/31782
9.
Shoukry, George Fouad.
State-space realization for nonlinear systems.
Degree: MS, Mechanical Engineering, 2008, Georgia Tech
URL: http://hdl.handle.net/1853/26497
► The state-space realization problem is a very basic and fundamental problem of control theory. The topic is also becoming increasingly important as practitioners of both…
(more)
▼ The state-space realization problem is a very basic and fundamental problem of control theory. The topic is also becoming increasingly important as practitioners of both physical and social sciences find it crucial to model very complex systems based on input-output data only. In this thesis, a review of the topic will be given for general nonlinear systems and for the less general linear case as well. The thesis will also present some new theoretical results that contribute to the development of the state-space realization topic. Specifically, an important result will show that if a system can be identified by an input-output equation of a particular form, which is fairly general, then a state-space realization can always be easily derived directly from the input-output map. Finally, the theory will be applied to find a state-space model for a nonlinear hydraulic system based on its input-output data.
Advisors/Committee Members: Sadegh, Nader (Committee Chair), Chen, Xu-Yan (Committee Member), Chen, Ye-Hwa (Committee Member).
Subjects/Keywords: State-space realization; Nonlinear systems; State-space modeling; State-space methods; Nonlinear systems; Control theory; Mathematical models
…not least, I wish
to thank the great professors at Georgia Tech who shared with me their…
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APA (6th Edition):
Shoukry, G. F. (2008). State-space realization for nonlinear systems. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/26497
Chicago Manual of Style (16th Edition):
Shoukry, George Fouad. “State-space realization for nonlinear systems.” 2008. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/26497.
MLA Handbook (7th Edition):
Shoukry, George Fouad. “State-space realization for nonlinear systems.” 2008. Web. 12 Apr 2021.
Vancouver:
Shoukry GF. State-space realization for nonlinear systems. [Internet] [Masters thesis]. Georgia Tech; 2008. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/26497.
Council of Science Editors:
Shoukry GF. State-space realization for nonlinear systems. [Masters Thesis]. Georgia Tech; 2008. Available from: http://hdl.handle.net/1853/26497
10.
Johnson, Nicholas Andrew.
Control of a folding quadrotor with a slung load using input shaping.
Degree: MS, Mechanical Engineering, 2017, Georgia Tech
URL: http://hdl.handle.net/1853/58246
► Quadrotors are being used in an increasing number of applications. One such application is in carrying suspended payloads. However, as the payload swings – due…
(more)
▼ Quadrotors are being used in an increasing number of applications. One such application is in carrying suspended payloads. However, as the payload swings – due to quadrotor motion or due to a disturbance – it also pulls on the quadrotor. The resulting force and torque from the payload can be significant and destabilize the quadrotor. Additionally, the swinging may be undesirable for fragile payloads, or the payload may collide with an obstacle. A typical approach is to allow the swinging to damp out, but this takes away from the limited battery life of the quadrotor. Instead, input shaping techniques can be implemented in the software to reduce the payload oscillations. Input shaping has been shown in similar systems (cranes, double pendula, and helicopters) to significantly reduce the amount of residual oscillation after a maneuver. Because it is a passive technique, the position of the payload does not need to be obtained in a motion capture facility or by using computationally expensive observer algorithms. This allows the quadrotor to be used in a variety of applications, including in disaster relief and cargo transport where cost is a factor. In this thesis, the dynamics of the quadrotor and payload are derived and explained in depth, including physicalparameters not usually considered. Then PID feedback is explored in controlling the system. In addition to the simulation results, hardware limitations must also be considered. Input shaping is then integrated into the system. The simulations show that input shaping greatly reduces unwanted residual oscillations. Finally, a folding quadrotor design is presented. Quadrotors must have large frames in order to carry large payloads, and a folding design saves space when transporting the quadrotor between flights. The quadrotor can then be placed in the trunk of a car or deployed from a rocket to reach an inaccessible area to provide aid.
Advisors/Committee Members: Singhose, William E. (advisor), Sadegh, Nader (committee member), Ume, I. Charles (committee member).
Subjects/Keywords: Quadrotor; Quadcopter; Drone; UAV; Input shaping; Residual; Dynamics; Simulation; Control; PID; Folding
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APA (6th Edition):
Johnson, N. A. (2017). Control of a folding quadrotor with a slung load using input shaping. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/58246
Chicago Manual of Style (16th Edition):
Johnson, Nicholas Andrew. “Control of a folding quadrotor with a slung load using input shaping.” 2017. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/58246.
MLA Handbook (7th Edition):
Johnson, Nicholas Andrew. “Control of a folding quadrotor with a slung load using input shaping.” 2017. Web. 12 Apr 2021.
Vancouver:
Johnson NA. Control of a folding quadrotor with a slung load using input shaping. [Internet] [Masters thesis]. Georgia Tech; 2017. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/58246.
Council of Science Editors:
Johnson NA. Control of a folding quadrotor with a slung load using input shaping. [Masters Thesis]. Georgia Tech; 2017. Available from: http://hdl.handle.net/1853/58246
11.
Fujioka, Daichi.
Tip-over stability analysis for mobile boom cranes with single- and double-pendulum payloads.
Degree: MS, Mechanical Engineering, 2010, Georgia Tech
URL: http://hdl.handle.net/1853/37162
► This thesis investigated a tip-over stability of mobile boom cranes with swinging payloads. Base and crane motion presents a tip-over problem. Attaching complex payloads further…
(more)
▼ This thesis investigated a tip-over stability of mobile boom cranes with swinging payloads. Base and crane motion presents a tip-over problem. Attaching complex payloads further complicates the problem. They study began with a single-pendulum payload to analyze a tip-over stability characteristics under different conditions. A simple tip-over prediction model was developed with a goal of limiting a computational cost to a minimum. The stability was characterized by a tip-over stability margin method. The crane's tip-over stability was also represented by the maximum possible payload it can carry throughout the workspace. In a static stability analysis, mobile boom crane was assumed to be stationary, thus with no payload swing. The study provided basic understanding on the relationship between tip-over stability and boom configuration. In a pseudo-dynamic stability analysis, the method incorporated payload swing into the analysis by adding estimated maximum payload swing due to motions. To estimate the angles, differential equations of motions of payload swings were derived. The thesis extended the study to a double-pendulum payload. The maximum swing angles estimated in the single-pendulum case were directly applied to the double-pendulum case. To validate the analytical methods, a full dynamic multi-body simulation model of a mobile boom crane was developed. The predictions from the previous analysis were verified by the simulation results. The prediction model and the analytical methods in the thesis provide a significant tool for practical application of tip-over stability analysis on mobile boom cranes. The experimental results increase the confidence of the study's accuracy.
Advisors/Committee Members: Sadegh, Nader (Committee Member), Singhose, William (Committee Member), Whiteman, Wayne (Committee Member).
Subjects/Keywords: Mobile boom crane; Tip over stability; Double pendulum payload; Control; Cranes, derricks, etc.; Mobile cranes; Stability
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APA (6th Edition):
Fujioka, D. (2010). Tip-over stability analysis for mobile boom cranes with single- and double-pendulum payloads. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/37162
Chicago Manual of Style (16th Edition):
Fujioka, Daichi. “Tip-over stability analysis for mobile boom cranes with single- and double-pendulum payloads.” 2010. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/37162.
MLA Handbook (7th Edition):
Fujioka, Daichi. “Tip-over stability analysis for mobile boom cranes with single- and double-pendulum payloads.” 2010. Web. 12 Apr 2021.
Vancouver:
Fujioka D. Tip-over stability analysis for mobile boom cranes with single- and double-pendulum payloads. [Internet] [Masters thesis]. Georgia Tech; 2010. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/37162.
Council of Science Editors:
Fujioka D. Tip-over stability analysis for mobile boom cranes with single- and double-pendulum payloads. [Masters Thesis]. Georgia Tech; 2010. Available from: http://hdl.handle.net/1853/37162
12.
Almubarak, Hassan A.
Infinite horizon nonlinear quadratic cost regulator.
Degree: MS, Electrical and Computer Engineering, 2018, Georgia Tech
URL: http://hdl.handle.net/1853/60821
► Infinite horizon optimal control has been a leading methodology for both linear and nonlinear systems. The Hamilton-Jacobi-Bellman (HJB) approach is a very effective approach for…
(more)
▼ Infinite horizon optimal control has been a leading methodology for both linear and nonlinear systems. The Hamilton-Jacobi-Bellman (HJB) approach is a very effective approach
for infinite horizon optimal control which involves solving the associated nonlinear partial differential equation known as the HJB equation. Because of the importance and high difficulty of solving the HJB equation, different techniques and approximations to
solve the HJB equation are proposed in the literature. In the case of linear systems, the HJB equation becomes the known Reccati equation which provides the well known and
powerful Linear Quadratic Regulator (LQR). Therefore, the focus of this research is to generalize the idea of the LQR and develop a Nonlinear Quadratic cost Regulator (NLQR) based on the solution of the HJB equation for the infinite horizon problem. We present a novel and an efficient technique based on
Taylor series expansion for the HJB equation around an equilibrium point. Utilizing a set of minimal polynomial basis functions that includes all possible combinations of the states,
a nonlinear matrix equation similar to the Riccati equation is constructed from the HJB equation. Solving this nonlinear matrix equation term by term renders the associated value
function (i.e, optimal cost-to-go) and the optimal controller with a prescribed truncation order. The computational complexity of this approach is shown to have only a polynomial growth rate with respect to the series order. The developed HJB based equation can be solved independently of the current states
and hence the optimal nonlinear control can be obtained a-priori offline for smooth nonlinear control affine systems. A general recursive closed form procedure to find the coefficients
of high order control laws is provided. Set of examples are presented with different systems natures and nonlinearities including inputs saturation.
Advisors/Committee Members: Sadegh, Nader (advisor), Taylor, David G. (advisor), Coogan, Samuel (committee member), Vela, Patricio (committee member).
Subjects/Keywords: Nonlinear control; Optimal control; Hamilton-Jacobi-Bellman; Infinite horizon; Feedback control
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APA (6th Edition):
Almubarak, H. A. (2018). Infinite horizon nonlinear quadratic cost regulator. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/60821
Chicago Manual of Style (16th Edition):
Almubarak, Hassan A. “Infinite horizon nonlinear quadratic cost regulator.” 2018. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/60821.
MLA Handbook (7th Edition):
Almubarak, Hassan A. “Infinite horizon nonlinear quadratic cost regulator.” 2018. Web. 12 Apr 2021.
Vancouver:
Almubarak HA. Infinite horizon nonlinear quadratic cost regulator. [Internet] [Masters thesis]. Georgia Tech; 2018. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/60821.
Council of Science Editors:
Almubarak HA. Infinite horizon nonlinear quadratic cost regulator. [Masters Thesis]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/60821
Georgia Tech
13.
Ahlin, Konrad Jeffrey.
The secant and traveling artificial potential field approaches to high dimensional robotic path planning.
Degree: PhD, Mechanical Engineering, 2018, Georgia Tech
URL: http://hdl.handle.net/1853/62196
► The field of robotic path planning is rich and diverse. As more complicated systems have become automated, the need for simple methods that can navigate…
(more)
▼ The field of robotic path planning is rich and diverse. As more complicated systems have become automated, the need for simple methods that can navigate high dimensional spaces has increased. However, most path planning methods, such as Road Map methods and Search methods, increase exponentially with dimension, making them undesirable for complex robotics. Thus, the Secant and Traveling Artificial Potential Field (TAPF) approaches were developed. The Secant and TAPF approaches are modifications to the general Artificial Potential Field (APF) path planning algorithm with desirable properties, which make them ideal for path planning in high dimensional space. All APF methods grow linearly with dimension; however, general APF methods are not guaranteed to converge given an arbitrary field of obstacles, significantly hindering the applicability of the APF algorithm. By specially tuning the artificial forces generated by the Secant and TAPF approaches, these methods can be shown to be globally asymptotically stable at the target location for a point robot in a field of point obstacles. To extend this theory for more practical applications, the concept of a boundary layer was introduced into the path planning algorithm. The boundary layer is a finite radius that encompasses an obstacle, such that the field is transformed within the boundary layer to account for the solid shape. By warping the landscape within the boundary layer, the system becomes mathematically equivalent to avoiding a point in space. From these advancements, the Secant and TAPF approaches were then demonstrated on planar robots and manipulators. These real-world systems were handled by selecting individual points on the robot that need to converge and treating them as separate systems coupled together by the defined constraints. For example, a planar robot is dynamically equivalent to two points constrained by a link. Similarly, a manipulator could be considered to be n-points jointed together. With the use of the Secant and TAPF approaches to the APF algorithm, robotic control and path planning could be drastically simplified, even for complex systems.
Advisors/Committee Members: Sadegh, Nader (advisor), Hu, Ai-Ping (advisor), Zhou, Hao-Min (committee member), Ueda, Jun (committee member), Isler, Volkan (committee member).
Subjects/Keywords: Artificial; Potential; Field; Secant; Robotic; Path planning; Trajectory; Dynamic; High dimensional
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APA (6th Edition):
Ahlin, K. J. (2018). The secant and traveling artificial potential field approaches to high dimensional robotic path planning. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62196
Chicago Manual of Style (16th Edition):
Ahlin, Konrad Jeffrey. “The secant and traveling artificial potential field approaches to high dimensional robotic path planning.” 2018. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/62196.
MLA Handbook (7th Edition):
Ahlin, Konrad Jeffrey. “The secant and traveling artificial potential field approaches to high dimensional robotic path planning.” 2018. Web. 12 Apr 2021.
Vancouver:
Ahlin KJ. The secant and traveling artificial potential field approaches to high dimensional robotic path planning. [Internet] [Doctoral dissertation]. Georgia Tech; 2018. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/62196.
Council of Science Editors:
Ahlin KJ. The secant and traveling artificial potential field approaches to high dimensional robotic path planning. [Doctoral Dissertation]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/62196
14.
Winck, Ryder Christian.
Simultaneous control of coupled actuators using singular value decomposition and semi-nonnegative matrix factorization.
Degree: PhD, Mechanical Engineering, 2012, Georgia Tech
URL: http://hdl.handle.net/1853/45907
► This thesis considers the application of singular value decomposition (SVD) and semi-nonnegative matrix factorization (SNMF) within feedback control systems, called the SVD System and SNMF…
(more)
▼ This thesis considers the application of singular value decomposition (SVD) and semi-nonnegative matrix factorization (SNMF) within feedback control systems, called the SVD System and SNMF System, to control numerous subsystems with a reduced number of control inputs. The subsystems are coupled using a row-column structure to allow mn subsystems to be controlled using m+n inputs. Past techniques for controlling systems in this row-column structure have focused on scheduling procedures that offer limited performance. The SVD and SNMF Systems permit simultaneous control of every subsystem, which increases the convergence rate by an order of magnitude compared with previous methods. In addition to closed loop control, open loop procedures using the SVD and SNMF are compared with previous scheduling procedures, demonstrating significant performance improvements. This thesis presents theoretical results for the controllability of systems using the row-column structure and for the stability and performance of the SVD and SNMF Systems. Practical challenges to the implementation of the SVD and SNMF Systems are also examined. Numerous simulation examples are provided, in particular, a dynamic simulation of a pin array device, called Digital Clay, and two physical demonstrations are used to assess the feasibility of the SVD and SNMF Systems for specific applications.
Advisors/Committee Members: Book, Wayne (Committee Chair), Feron, Eric (Committee Member), Park, Haesun (Committee Member), Sadegh, Nader (Committee Member), Ueda, Jun (Committee Member).
Subjects/Keywords: Nonlinear control; Stability; Nonnegative matrix factorization; Singular value decomposition; Feedback control system; Rank one; Dimension reduction; Feedback control systems; Automatic control
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APA (6th Edition):
Winck, R. C. (2012). Simultaneous control of coupled actuators using singular value decomposition and semi-nonnegative matrix factorization. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/45907
Chicago Manual of Style (16th Edition):
Winck, Ryder Christian. “Simultaneous control of coupled actuators using singular value decomposition and semi-nonnegative matrix factorization.” 2012. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/45907.
MLA Handbook (7th Edition):
Winck, Ryder Christian. “Simultaneous control of coupled actuators using singular value decomposition and semi-nonnegative matrix factorization.” 2012. Web. 12 Apr 2021.
Vancouver:
Winck RC. Simultaneous control of coupled actuators using singular value decomposition and semi-nonnegative matrix factorization. [Internet] [Doctoral dissertation]. Georgia Tech; 2012. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/45907.
Council of Science Editors:
Winck RC. Simultaneous control of coupled actuators using singular value decomposition and semi-nonnegative matrix factorization. [Doctoral Dissertation]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/45907
15.
Bansal, Rohan.
Analysis and feedback control of the scanning laser epitaxy process applied to nickel-base superalloys.
Degree: PhD, Mechanical Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/51714
► Scanning Laser Epitaxy (SLE) is a new layer-by-layer additive manufacturing process being developed in the Direct Digital Manufacturing Laboratory at Georgia Tech. SLE allows for…
(more)
▼ Scanning Laser Epitaxy (SLE) is a new layer-by-layer additive manufacturing process being developed in the Direct Digital Manufacturing Laboratory at
Georgia Tech. SLE allows for the fabrication of three-dimensional objects with specified microstructure through the controlled melting and re-solidification of a metal powder placed atop a base substrate. This dissertation discusses the work done to date on assessing the feasibility of using SLE to both repair single crystal (SX) turbine airfoils and manufacture functionally graded turbine components. Current processes such as selective laser melting (SLM) are not able to create structures with defined microstructure and often have issues with warping of underlying layers due to the high temperature gradients present when scanning a high power laser beam. Additionally, other methods of repair and buildup have typically been plagued by crack formation, equiaxed grains, stray grains, and grain multiplication that can occur when dendrite arms are separated from their main dendrites due to remelting. In this work, it is shown that the SLE process is capable of creating fully dense, crack-free equiaxed, directionally-solidified, and SX structures. The SLE process, though, is found to be currently constrained by the cumbersome method of choosing proper parameters and a relative lack of repeatability. Therefore, it is hypothesized that a real-time feedback control scheme based upon a robust offline model will be necessary both to create specified defect-free microstructures and to improve the repeatability of the process enough to allow for multi-layer growth. The proposed control schemes are based upon temperature data feedback provided at high frame rate by a thermal imaging camera. This data is used in both PID and model reference adaptive control (MRAC) schemes and drives the melt pool temperature during processing towards a reference melt pool temperature that has been found to give a desired microstructure in the robust offline model of the process. The real-time control schemes will enable the ground breaking capabilities of the SLE process to create engine-ready net shape turbine components from raw powder material.
Advisors/Committee Members: Das, Suman (advisor), Babu, Sudarsanam (committee member), Joshi, Yogendra (committee member), Sadegh, Nader (committee member), Shi, Jianjun (committee member).
Subjects/Keywords: René-80; CMSX-4; Nickel-base superalloys; Single crystal; SX; Turbine engine repair; Directionally-solidified; DS; Equiaxed; One-step-ahead adaptive control; Mar-M247; Scanning laser epitaxy; SLE; Welding; Epitaxy; Heat resistant alloys; Nickel alloys; Microstructure
…Digital Manufacturing Laboratory at Georgia
Tech. SLE allows for the fabrication of three… …at Georgia Tech that that will
allow for: a.) the additive repair of damaged turbine…
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APA (6th Edition):
Bansal, R. (2013). Analysis and feedback control of the scanning laser epitaxy process applied to nickel-base superalloys. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51714
Chicago Manual of Style (16th Edition):
Bansal, Rohan. “Analysis and feedback control of the scanning laser epitaxy process applied to nickel-base superalloys.” 2013. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/51714.
MLA Handbook (7th Edition):
Bansal, Rohan. “Analysis and feedback control of the scanning laser epitaxy process applied to nickel-base superalloys.” 2013. Web. 12 Apr 2021.
Vancouver:
Bansal R. Analysis and feedback control of the scanning laser epitaxy process applied to nickel-base superalloys. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/51714.
Council of Science Editors:
Bansal R. Analysis and feedback control of the scanning laser epitaxy process applied to nickel-base superalloys. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/51714
16.
Turkseven, Melih.
Design and control of a pneumatically driven MRI-compatible tele-operated haptic interface.
Degree: PhD, Mechanical Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/55022
► This study presents methods for understanding, modeling and control of tele-operated pneumatic actuators for rehabilitation in Magnetic Resonance Imaging (MRI). Pneumatic actuators have excellent MRI-compatibility…
(more)
▼ This study presents methods for understanding, modeling and control of tele-operated pneumatic actuators for rehabilitation in Magnetic Resonance Imaging (MRI). Pneumatic actuators have excellent MRI-compatibility as opposed to conventional electro-mechanical systems; however, the actuator and the system drivers cannot be co-located due to the MRI-compatibility requirements. The actuators are driven via long transmission lines, which affect the system dynamics significantly. Methods provided in this work produced accurate pressure estimation and control by accounting for the pressure dynamics in the lines, which has been neglected by previous work in this area. The effectiveness of the presented modeling and control methods were demonstrated on tele-operation test setups. This research also includes the design of necessary system components for the developed algorithms. An MRI-compatible optical sensor was developed for force feedback and its design was analyzed for high precision. Directions and opportunities for future research are discussed.
Advisors/Committee Members: Ueda, Jun (advisor), Leamy, Michael (committee member), Sadegh, Nader (committee member), Zhang, Fumin (committee member), Howard, Ayanna (committee member).
Subjects/Keywords: Pneumatics; Observer; Non-linear controller; Transmission lines
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APA (6th Edition):
Turkseven, M. (2016). Design and control of a pneumatically driven MRI-compatible tele-operated haptic interface. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/55022
Chicago Manual of Style (16th Edition):
Turkseven, Melih. “Design and control of a pneumatically driven MRI-compatible tele-operated haptic interface.” 2016. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/55022.
MLA Handbook (7th Edition):
Turkseven, Melih. “Design and control of a pneumatically driven MRI-compatible tele-operated haptic interface.” 2016. Web. 12 Apr 2021.
Vancouver:
Turkseven M. Design and control of a pneumatically driven MRI-compatible tele-operated haptic interface. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/55022.
Council of Science Editors:
Turkseven M. Design and control of a pneumatically driven MRI-compatible tele-operated haptic interface. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/55022
17.
Bai, Kun.
Direct field-feedback control for permanent magnet spherical motors.
Degree: PhD, Mechanical Engineering, 2012, Georgia Tech
URL: http://hdl.handle.net/1853/50141
► There are emerging requirements for high accuracy multi-DOF actuators in numerous applications. As one of the novel motors capable of multi-DOF manipulation, permanent magnet spherical…
(more)
▼ There are emerging requirements for high accuracy multi-DOF actuators in numerous applications. As one of the novel motors capable of multi-DOF manipulation, permanent magnet spherical motors (PMSMs) that can provide continuous and dexterous motion in one joint have been widely studied for their advantages in structure and energy efficiency. The demands to bring forward the performance of PMSMs for precision applications have motivated this thesis to develop a closed-loop orientation control system with high accuracy and bandwidth. Unlike traditional control methods for PMSMs, which rely on explicit orientation feedback, a new control method (referred to here as direct field-feedback control or in short DFC) directly utilizing the magnetic fields for feedback have been developed in this thesis. Because magnetic field measurements are almost instantaneous and the need for real-time orientation estimation is eliminated in DFC, the system sampling time is greatly reduced. Meanwhile, several field-based methods have been developed for the major components in the DFC system and each component can be processed independently and concurrently with the magnetic field measurements. The parallel computation further improves the system bandwidth and also reduces accumulated error. The DFC system has been experimentally implemented and evaluated. The results show excellent control performances in terms of accuracy and bandwidth. To facilitate the design and analysis of the DFC system, several new algorithms have been developed, which include the modeling and computing of magnetic fields as well as forces and torques, an analysis of bijective relationship between orientation and magnetic fields, and a method for calibration and reconstruction of the rotor magnetic field in 3 dimensional space. These algorithms not only enable the implementation of the DFC system for a PMSM, but also benefit the PMSM studies in design, modeling and field-based sensing. While the immediate outcome of this research is a control system for PMSMs, this new control method can be applied to a broad spectrum of electromagnetic motion systems.
Advisors/Committee Members: Lee, Kok-Meng (advisor), Egerstedt, Magnus (committee member), Sadegh, Nader (committee member), Taylor, David (committee member), Ueda, Jun (committee member).
Subjects/Keywords: Field-feedback control; Spherical motor; Actuators; Control theory; Feedback control systems; Magnetic fields
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APA (6th Edition):
Bai, K. (2012). Direct field-feedback control for permanent magnet spherical motors. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50141
Chicago Manual of Style (16th Edition):
Bai, Kun. “Direct field-feedback control for permanent magnet spherical motors.” 2012. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/50141.
MLA Handbook (7th Edition):
Bai, Kun. “Direct field-feedback control for permanent magnet spherical motors.” 2012. Web. 12 Apr 2021.
Vancouver:
Bai K. Direct field-feedback control for permanent magnet spherical motors. [Internet] [Doctoral dissertation]. Georgia Tech; 2012. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/50141.
Council of Science Editors:
Bai K. Direct field-feedback control for permanent magnet spherical motors. [Doctoral Dissertation]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/50141
18.
Samba Murthy, Aravind.
Optimal kinetic energy recovery algorithms for electric machines.
Degree: PhD, Electrical and Computer Engineering, 2017, Georgia Tech
URL: http://hdl.handle.net/1853/58682
► Electric machines are used to accelerate and decelerate mechanical loads. During deceleration events, a significant portion of stored kinetic energy can be converted into electrical…
(more)
▼ Electric machines are used to accelerate and decelerate mechanical loads. During deceleration events, a significant portion of stored kinetic energy can be converted into electrical form for storage in a battery or capacitor, through the use of regenerative braking. By reducing the net energy flow out of the electric power source, regenerative braking is one of the mechanisms by which the overall efficiency of an application can be improved. This research details the development, analysis, and implementation of optimal kinetic energy recovery algorithms for surface permanentmagnet synchronous machines, interior permanent-magnet synchronous machines and induction machines. Braking events over user-defined time-interval lengths that include both stopping and slowing down to non-zero speeds are considered. Mechanical loads that include viscous friction, Coulomb friction, and aerodynamic drag are considered in the development of the algorithms. The trade-off between braking time and energy recovery is clearly illustrated and closed-form expressions for the optimal length of the braking time-interval are developed wherever possible to help control engineers design optimal braking trajectories. A universal optimal kinetic energy recovery algorithm is developed for all three types of electric machines under constant-flux operation. The theory is extended to include braking with final position constraints and braking under variable-flux methods of operation such as maximum-torque-per-amp and flux-weakening. The optimal control solutions are implemented using standard feedback controllers and are validated through simulations and experiments.
Advisors/Committee Members: Taylor, David (advisor), Habetler, Thomas (committee member), Wardi, Yorai (committee member), Sadegh, Nader (committee member), Harley, Ronald (committee member).
Subjects/Keywords: Optimal control; Regenerative braking; Kinetic energy recovery
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APA (6th Edition):
Samba Murthy, A. (2017). Optimal kinetic energy recovery algorithms for electric machines. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/58682
Chicago Manual of Style (16th Edition):
Samba Murthy, Aravind. “Optimal kinetic energy recovery algorithms for electric machines.” 2017. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/58682.
MLA Handbook (7th Edition):
Samba Murthy, Aravind. “Optimal kinetic energy recovery algorithms for electric machines.” 2017. Web. 12 Apr 2021.
Vancouver:
Samba Murthy A. Optimal kinetic energy recovery algorithms for electric machines. [Internet] [Doctoral dissertation]. Georgia Tech; 2017. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/58682.
Council of Science Editors:
Samba Murthy A. Optimal kinetic energy recovery algorithms for electric machines. [Doctoral Dissertation]. Georgia Tech; 2017. Available from: http://hdl.handle.net/1853/58682
19.
Chipalkatty, Rahul.
Human-in-the-loop control for cooperative human-robot tasks.
Degree: PhD, Mechanical Engineering, 2012, Georgia Tech
URL: http://hdl.handle.net/1853/43649
► Even with the advance of autonomous robotics and automation, many automated tasks still require human intervention or guidance to mediate uncertainties in the environment or…
(more)
▼ Even with the advance of autonomous robotics and automation, many automated tasks still require human intervention or guidance to mediate uncertainties in the environment or to execute the complexities of a task that autonomous robots are not yet equipped to handle. As such, robot controllers are needed that utilize the strengths of both autonomous agents, adept at handling lower level control tasks, and humans, superior at handling higher-level cognitive tasks.
To address this need, we develop a control theoretic framework that seeks to incorporate user commands such that user intention is preserved while an automated task is carried out by the controller. This is a novel approach in that system theoretic tools allow for analytic guarantees of feasibility and convergence to goal states which naturally lead to varying levels of autonomy. We develop a model predictive controller that takes human input, infers human intent, then applies a control that minimizes deviations from the intended human control while ensuring that the lower-level automated task is being completed.
This control framework is then evaluated in a human operator study involving a shared control task with human guidance of a mobile robot for navigation. These theoretical and experimental results lay the foundation for applying this control method for human-robot cooperative control to actual human-robot tasks. Specifically, the control is applied to a Urban Search and Rescue robot task where the shared control of a quadruped rescue robot is needed to ensure static stability during human-guided leg placements in uneven terrain. This control framework is also extended to a multiple user and multiple agent system where the human operators control multiple agents such that the agents maintain a formation while allowing the human operators to manipulate the shape of the formation. User studies are also conducted to evaluate the control in multiple operator scenarios.
Advisors/Committee Members: Egerstedt, Magnus (Committee Chair), Book, Wayne (Committee Co-Chair), Howard, Ayanna (Committee Member), Sadegh, Nader (Committee Member), Ueda, Jun (Committee Member).
Subjects/Keywords: Robotics; Mixed-initative; Model predictive control; Multi-robot control; Human-robot interaction; Human-robot interaction; Human-machine systems Manual control; Control theory
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APA (6th Edition):
Chipalkatty, R. (2012). Human-in-the-loop control for cooperative human-robot tasks. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/43649
Chicago Manual of Style (16th Edition):
Chipalkatty, Rahul. “Human-in-the-loop control for cooperative human-robot tasks.” 2012. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/43649.
MLA Handbook (7th Edition):
Chipalkatty, Rahul. “Human-in-the-loop control for cooperative human-robot tasks.” 2012. Web. 12 Apr 2021.
Vancouver:
Chipalkatty R. Human-in-the-loop control for cooperative human-robot tasks. [Internet] [Doctoral dissertation]. Georgia Tech; 2012. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/43649.
Council of Science Editors:
Chipalkatty R. Human-in-the-loop control for cooperative human-robot tasks. [Doctoral Dissertation]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/43649
20.
Wang, Longke.
Adaptive control of variable displacement pumps.
Degree: PhD, Mechanical Engineering, 2011, Georgia Tech
URL: http://hdl.handle.net/1853/43654
► Fluid power technology has been widely used in industrial practice; however, its energy efficiency became a big concern in the recent years. Much progress has…
(more)
▼ Fluid power technology has been widely used in industrial practice; however, its energy efficiency became a big concern in the recent years. Much progress has been made to improve fluid power energy efficiency from many aspects. Among these approaches, using a valve-less system to replace a traditional valve-controlled system showed eminent energy reduction. This thesis studies the valve-less solution-pump displacement controlled actuators- from the view of controls background.
Singular perturbations have been applied to the fluid power to account for fluid stiffness; and a novel hydraulic circuit for single rod cylinder has been presented to increase the hydraulic circuit stabilities. Recursive Least Squares has been applied to account for measurement noise thus the parameters have fast convergence rate, square root algorithm has further applied to increase the controller's numerical stability and efficiency. It was showed that this technique is consistent with other techniques to increase controller's robustness. The developed algorithm is further extended to a hybrid adaptive control scheme to achieve desired trajectory tracking for general cases.
A hardware test-bed using the invented hydraulic circuit was built up. The experimental results are presents and validated the proposed algorithms and the circuit itself. The end goal of this project is to develop control algorithms and hydraulic circuit suitable for industrial practice.
Advisors/Committee Members: Book, Wayne J. (Committee Chair), Lee, Kok-Meng (Committee Member), Li, Perry Y. (Committee Member), Sadegh, Nader (Committee Member), Taylor, David G. (Committee Member).
Subjects/Keywords: Adaptive control; Hydraulics; Displacement pump; Singular perturbation; Pumping machinery; Adaptive control systems; Hydraulic circuit; Algorithms
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APA (6th Edition):
Wang, L. (2011). Adaptive control of variable displacement pumps. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/43654
Chicago Manual of Style (16th Edition):
Wang, Longke. “Adaptive control of variable displacement pumps.” 2011. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/43654.
MLA Handbook (7th Edition):
Wang, Longke. “Adaptive control of variable displacement pumps.” 2011. Web. 12 Apr 2021.
Vancouver:
Wang L. Adaptive control of variable displacement pumps. [Internet] [Doctoral dissertation]. Georgia Tech; 2011. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/43654.
Council of Science Editors:
Wang L. Adaptive control of variable displacement pumps. [Doctoral Dissertation]. Georgia Tech; 2011. Available from: http://hdl.handle.net/1853/43654
21.
Rogge, Matthew Douglas.
In-process sensing of weld penetration depth using non-contact laser ultrasound system.
Degree: PhD, Mechanical Engineering, 2009, Georgia Tech
URL: http://hdl.handle.net/1853/31698
► Gas Metal Arc Welding (GMAW) is one of the main methods used to join structural members. One of the largest challenges involved in production of…
(more)
▼ Gas Metal Arc Welding (GMAW) is one of the main methods used to join structural members. One of the largest challenges involved in production of welds is ensuring the quality of the weld. One of the main factors attributing to weld quality is penetration depth. Automatic control of the welding process requires non-contact, non-destructive sensors that can operate in the presence of high temperatures and electrical noise found in the welding environment. Inspection using laser generation and electromagnetic acoustic transducer (EMAT) reception of ultrasound was found to satisfy these conditions. Using this technique, the time of flight of the ultrasonic wave is measured and used to calculate penetration depth. Previous works have shown that penetration depth measurement performance is drastically reduced when performed during welding.
This work seeks to realize in-process penetration depth measurement by compensating for errors caused by elevated temperature. Neuro-fuzzy models are developed that predict penetration depth based on in-process time of flight measurements and the welding process input. Two scenarios are considered in which destructive penetration depth measurements are or are not available for model training. Results show the two scenarios are successful. When destructive measurements are unavailable, model error is comparable to that of offline ultrasonic measurements. When destructive measurements are available, measurement error is reduced by 50% compared to offline ultrasonic measurements.
The two models can be effectively applied to permit in-process penetration depth measurements for the purpose of real-time monitoring and control. This will reduce material, production time, and labor costs and increase the quality of welded parts.
Advisors/Committee Members: Ume, Charles (Committee Chair), Chen, Ye-Hwa (Committee Member), Michaels, Jennifer (Committee Member), Sadegh, Nader (Committee Member), Vachtsevanos, George (Committee Member).
Subjects/Keywords: Time of flight diffraction; Automatic inspection; Neuro-fuzzy model; Rayleigh wave; Welded joints Measurement; Nondestructive testing; Lasers Industrial applications; Gas metal arc welding
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APA (6th Edition):
Rogge, M. D. (2009). In-process sensing of weld penetration depth using non-contact laser ultrasound system. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/31698
Chicago Manual of Style (16th Edition):
Rogge, Matthew Douglas. “In-process sensing of weld penetration depth using non-contact laser ultrasound system.” 2009. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/31698.
MLA Handbook (7th Edition):
Rogge, Matthew Douglas. “In-process sensing of weld penetration depth using non-contact laser ultrasound system.” 2009. Web. 12 Apr 2021.
Vancouver:
Rogge MD. In-process sensing of weld penetration depth using non-contact laser ultrasound system. [Internet] [Doctoral dissertation]. Georgia Tech; 2009. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/31698.
Council of Science Editors:
Rogge MD. In-process sensing of weld penetration depth using non-contact laser ultrasound system. [Doctoral Dissertation]. Georgia Tech; 2009. Available from: http://hdl.handle.net/1853/31698
22.
Ahmed, Raga.
Performance limits of linear variable reluctance motors in controlled linear motion applications.
Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/50310
► Improved actuator point-to-point positioning performance, as measured by settling time, has been demonstrated in the context of manufacturing automation applications such as circuit board assembly…
(more)
▼ Improved actuator point-to-point positioning performance, as measured by settling time, has been demonstrated in the context of manufacturing automation applications such as circuit board assembly and other product-transfer operations. The control objective is to move a single mass in a single axis from a starting position to a target position following the fastest possible motion trajectory while meeting final-position accuracy requirements. The actuator's achievable force that is available for acceleration is the fundamental variable that determines optimal settling time. The actuator technology employed is the linear variable reluctance motor.
Mathematical motor models and simulation programs have been developed to perform several tasks necessary for demonstrating improved actuator performance: (i) optimal commutation under force ripple constraints has been computed to determine ripple-specified force limits and to provide excitation waveforms necessary for force production, (ii) motion profiles for several positioning task scenarios have been generated based on computed ripple-specified force limits, (iii) state space integral position control simulations have been performed to evaluate the degree of success of the proposed relaxation of force ripple constraints in improving settling time and (iv) the computed settling times for positioning tasks have been examined in relation to the copper losses associated with them in order to assess the trade-off.
It has been shown that higher force capability is achieved when force-ripple constraints, which have been customarily emphasized in positioning applications, are relaxed. The higher capability is exploited by adopting faster motion trajectories, which are then imposed under feedback control to achieve faster settling time. Improved force capability with relaxed ripple constraints is demonstrated by generating average force versus speed capability curves under ripple constraints ranging from minimal ripple to unconstrained ripple. Improved positioning performance, with relaxed ripple constraints and without violating the final-position accuracy specification, is demonstrated by computing and comparing settling time for multiple positioning tasks with trajectories based on both extremes of force capability, lowest (no-ripple) and highest (unconstrained-ripple) force limits. The results have been demonstrated for two LVR motor configurations: one motor configuration represents typical (switched) linear and rotary variable reluctance motors while the other exhibits features of both switched and synchronous varieties of variable reluctance motors.
Advisors/Committee Members: Taylor, David G. (advisor), Harley, Ronald G. (committee member), Habetler, Thomas G. (committee member), Meliopoulos, A. P. Sakis (committee member), Sadegh, Nader (committee member).
Subjects/Keywords: Variable reluctance motors; Point-to-point positioning; Reluctance motors; Actuators
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APA (6th Edition):
Ahmed, R. (2013). Performance limits of linear variable reluctance motors in controlled linear motion applications. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50310
Chicago Manual of Style (16th Edition):
Ahmed, Raga. “Performance limits of linear variable reluctance motors in controlled linear motion applications.” 2013. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/50310.
MLA Handbook (7th Edition):
Ahmed, Raga. “Performance limits of linear variable reluctance motors in controlled linear motion applications.” 2013. Web. 12 Apr 2021.
Vancouver:
Ahmed R. Performance limits of linear variable reluctance motors in controlled linear motion applications. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/50310.
Council of Science Editors:
Ahmed R. Performance limits of linear variable reluctance motors in controlled linear motion applications. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50310
23.
Marshall, Matthew Q.
Multi-camera uncalibrated visual servoing.
Degree: PhD, Mechanical Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/49117
► Uncalibrated visual servoing (VS) can improve robot performance without needing camera and robot parameters. Multiple cameras improve uncalibrated VS precision, but no works exist simultaneously…
(more)
▼ Uncalibrated visual servoing (VS) can improve robot performance without needing camera and robot parameters. Multiple cameras improve uncalibrated VS precision, but no works exist simultaneously using more than two cameras. The first data for uncalibrated VS simultaneously using more than two cameras are presented. VS performance is also compared for two different camera models: a high-cost camera and a low-cost camera, the difference being image noise magnitude and focal length. A Kalman filter based control law for uncalibrated VS is introduced and shown to be stable under the assumptions that robot joint level servo control can reach commanded joint offsets and that the servoing path goes through at least one full column rank robot configuration. Adaptive filtering by a covariance matching technique is applied to achieve automatic camera weighting, prioritizing the best available data. A decentralized sensor fusion architecture is utilized to assure continuous servoing with camera occlusion. The decentralized adaptive Kalman filter (DAKF) control law is compared to a classical method, Gauss-Newton, via simulation and experimentation. Numerical results show that DAKF can improve average tracking error for moving targets and convergence time to static targets. DAKF reduces system sensitivity to noise and poor camera placement, yielding smaller outliers than Gauss-Newton. The DAKF system improves visual servoing performance, simplicity, and reliability.
Advisors/Committee Members: Lipkin, Harvey (advisor), Sadegh, Nader (committee member), Howard, Ayanna M. (committee member), Daley, Wayne (committee member), Hu, Ai-Ping (committee member), Ueda, Jun (committee member).
Subjects/Keywords: Robot; Vision; Visual servoing; Kalman filter; Gauss-Newton; Control law; Uncalibrated; Robot vision; Kalman filtering; Control theory
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APA (6th Edition):
Marshall, M. Q. (2013). Multi-camera uncalibrated visual servoing. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/49117
Chicago Manual of Style (16th Edition):
Marshall, Matthew Q. “Multi-camera uncalibrated visual servoing.” 2013. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/49117.
MLA Handbook (7th Edition):
Marshall, Matthew Q. “Multi-camera uncalibrated visual servoing.” 2013. Web. 12 Apr 2021.
Vancouver:
Marshall MQ. Multi-camera uncalibrated visual servoing. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/49117.
Council of Science Editors:
Marshall MQ. Multi-camera uncalibrated visual servoing. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/49117
24.
Kivila, Arto.
Modeling, estimation and control for serial flexible robot arms.
Degree: PhD, Mechanical Engineering, 2017, Georgia Tech
URL: http://hdl.handle.net/1853/58644
► Industry demands for high precision automation equipment have led to heavy, stiff and therefore expensive, inefficient, and potentially dangerous serial link manipulators. Industry has been…
(more)
▼ Industry demands for high precision automation equipment have led to heavy, stiff and therefore expensive, inefficient, and potentially dangerous serial link manipulators. Industry has been reluctant to move towards lighter, and therefore inherently more flexible manipulators, despite the potential benefits of lower costs, increased throughput and improved safety. Advancements in data processing capabilities, sensing capabilities and control theory during the past couple of decades can potentially solve the perceived problems with flexible serial manipulators. In general, there is no such thing as a fully rigid manipulator: even current industrial robots exhibit small flexibilities. In addition, there are applications such as space-robotics and nuclear waste tank inspection/cleaning jobs where light and long links are the only option. Most research in the past has focused on single link manipulators and planar robot arms rather than spatial multi-link robots. This dissertation presents a systematic approach for obtaining natural frequencies and mode-shapes for n-link spatial serial structures based on transfer matrices. The method is validated with experiments and software simulations. A low-order dynamical model for n-link flexible manipulators in spatial configurations is presented. The model is verified with finite element simulations, and hardware experiments. The low-order model is the basis of an extended Kalman filter based estimator that allows sensor-based predictions of the flexible states. Accelerometer and strain gage based feedback is examined. Accelerometer based feedback is verified with experiments. In order to damp out he oscillations multi-link flexible arms caused by the reference command, an optimized input shaping algorithm for multiple frequency ranges is presented. The results are confirmed with FEA analysis and experiments. The controllability of natural modes is discussed and analyzed. An inversion based closed-loop controller is presented that guarantees stable joint trajectory tracking for flexible manipulator arms. A singular pertubation based controller is presented to actively damp out the vibrations in the arm. A test bed that provided verification of the claims made in this dissertation was designed and constructed. The test bed has 3 actuators and 2 flexible links.
Advisors/Committee Members: Singhose, William E. (advisor), Book, Wayne J. (committee member), Sadegh, Nader (committee member), Ueda, Jun (committee member), Vaughan, Joshua (committee member).
Subjects/Keywords: Multi-body dynamics; Extended Kalman filter; Input-shaping; Non-linear control
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APA (6th Edition):
Kivila, A. (2017). Modeling, estimation and control for serial flexible robot arms. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/58644
Chicago Manual of Style (16th Edition):
Kivila, Arto. “Modeling, estimation and control for serial flexible robot arms.” 2017. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/58644.
MLA Handbook (7th Edition):
Kivila, Arto. “Modeling, estimation and control for serial flexible robot arms.” 2017. Web. 12 Apr 2021.
Vancouver:
Kivila A. Modeling, estimation and control for serial flexible robot arms. [Internet] [Doctoral dissertation]. Georgia Tech; 2017. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/58644.
Council of Science Editors:
Kivila A. Modeling, estimation and control for serial flexible robot arms. [Doctoral Dissertation]. Georgia Tech; 2017. Available from: http://hdl.handle.net/1853/58644
25.
Daepp, Hannes Gorkin.
Constrained model predictive control for compliant position tracking of pneumatic systems.
Degree: PhD, Mechanical Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/55593
► Pneumatic actuation is frequently applied to situations that warrant inherent compliance, such as prostheses, orthoses or walking robots, i.e., natural motions and applications in which…
(more)
▼ Pneumatic actuation is frequently applied to situations that warrant inherent compliance, such as prostheses, orthoses or walking robots, i.e., natural motions and applications in which interaction with humans/the environment are anticipated. However, compliance, as well as friction, lead to position control challenges that are commonly countered using aggressive controllers like sliding mode (SMC) or high-gain PID control, resulting in stiff system dynamics. Even hybrid force-position controller dynamics are ultimately subject to a clear trade-off of compliance and accuracy. In this thesis, this challenge is addressed via a constrained Model Predictive Controller that treats compliance as a bound rather than a target to achieve compliant tracking. A comprehensive literature review explores the state-of-the-art and defines performance targets, and a set of 1 degree of freedom (DoF) tests is established to compare controllers and convert qualitative controller goals into quantitative design specifications. Four benchmark controllers that span the stiffness-accuracy spectrum – SMC, Linear Quadratic Regulation/Tracking, PID, and Impedance Control – are implemented in simulation and on hardware, and are used to produce baseline results and verify performance targets. The predictive controller is implemented with admittance and impedance constraints and compared to benchmarks on the 1-DoF system. Additionally, new friction compensation methods are introduced that leverage the predictive structure to improve friction compensation for slow systems, and are compared to additive compensation methods. Results show that constrained MPC enforces impedance bounds on a tracked system, and achieve results with accuracy comparable to the best benchmark performance at a given compliance bound. Additionally, because compliance is enforced as a bound rather than a target, the highest tracking accuracy achieved with MPCs ultimately happens at the minimum necessitated impedance, without a-priori knowledge of that impedance bound. Results are shown to extend to a multi-DoF system using a planar robotic arm with simultaneously actuated joints and subject to unexpected disturbances.
Advisors/Committee Members: Book, Wayne J. (advisor), Ferri, Aldo A. (committee member), Sadegh, Nader (committee member), Costello, Mark (committee member), Barth, Eric J. (committee member).
Subjects/Keywords: Model predictive control; Pneumatic actuation; Impedance control; Pneumatic tracking; Human-robot interaction
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APA (6th Edition):
Daepp, H. G. (2016). Constrained model predictive control for compliant position tracking of pneumatic systems. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/55593
Chicago Manual of Style (16th Edition):
Daepp, Hannes Gorkin. “Constrained model predictive control for compliant position tracking of pneumatic systems.” 2016. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/55593.
MLA Handbook (7th Edition):
Daepp, Hannes Gorkin. “Constrained model predictive control for compliant position tracking of pneumatic systems.” 2016. Web. 12 Apr 2021.
Vancouver:
Daepp HG. Constrained model predictive control for compliant position tracking of pneumatic systems. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/55593.
Council of Science Editors:
Daepp HG. Constrained model predictive control for compliant position tracking of pneumatic systems. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/55593
26.
Munnae, Jomkwun.
Uncalibrated robotic visual servo tracking for large residual problems.
Degree: PhD, Mechanical Engineering, 2010, Georgia Tech
URL: http://hdl.handle.net/1853/37219
► In visually guided control of a robot, a large residual problem occurs when the robot configuration is not in the neighborhood of the target acquisition…
(more)
▼ In visually guided control of a robot, a large residual problem occurs when the robot configuration is not in the neighborhood of the target acquisition configuration. Most existing uncalibrated visual servoing algorithms use quasi-Gauss-Newton methods which are effective for small residual problems. The solution used in this study switches between a full quasi-Newton method for large residual case and the quasi-Gauss-Newton methods for the small case. Visual servoing to handle large residual problems for tracking a moving target has not previously appeared in the literature.
For large residual problems various Hessian approximations are introduced including an approximation of the entire Hessian matrix, the dynamic BFGS (DBFGS) algorithm, and two distinct approximations of the residual term, the modified BFGS (MBFGS) algorithm and the dynamic full Newton method with BFGS (DFN-BFGS) algorithm. Due to the fact that the quasi-Gauss-Newton method has the advantage of fast convergence, the quasi-Gauss-Newton step is used as the iteration is sufficiently near the desired solution. A switching algorithm combines a full quasi-Newton method and a quasi-Gauss-Newton method. Switching occurs if the image error norm is less than the switching criterion, which is heuristically selected.
An adaptive forgetting factor called the dynamic adaptive forgetting factor (DAFF) is presented. The DAFF method is a heuristic scheme to determine the forgetting factor value based on the image error norm. Compared to other existing adaptive forgetting factor schemes, the DAFF method yields the best performance for both convergence time and the RMS error.
Simulation results verify validity of the proposed switching algorithms with the DAFF method for large residual problems. The switching MBFGS algorithm with the DAFF method significantly improves tracking performance in the presence of noise. This work is the first successfully developed model independent, vision-guided control for large residual with capability to stably track a moving target with a robot.
Advisors/Committee Members: Lipkin, Harvey (Committee Chair), Daley, Wayne (Committee Member), Ferri, Aldo A. (Committee Member), Howard, Ayanna MacCalla (Committee Member), Sadegh, Nader (Committee Member).
Subjects/Keywords: Nonlinear least squares; Residual approximation; Visual servo control; Uncalibrated control; Large residual; Broyden estimator; Adaptive forgetting factor; BFGS; Hessian approximation; Robot vision; Approximation algorithms; Newton-Raphson method
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APA (6th Edition):
Munnae, J. (2010). Uncalibrated robotic visual servo tracking for large residual problems. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/37219
Chicago Manual of Style (16th Edition):
Munnae, Jomkwun. “Uncalibrated robotic visual servo tracking for large residual problems.” 2010. Doctoral Dissertation, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/37219.
MLA Handbook (7th Edition):
Munnae, Jomkwun. “Uncalibrated robotic visual servo tracking for large residual problems.” 2010. Web. 12 Apr 2021.
Vancouver:
Munnae J. Uncalibrated robotic visual servo tracking for large residual problems. [Internet] [Doctoral dissertation]. Georgia Tech; 2010. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/37219.
Council of Science Editors:
Munnae J. Uncalibrated robotic visual servo tracking for large residual problems. [Doctoral Dissertation]. Georgia Tech; 2010. Available from: http://hdl.handle.net/1853/37219
Georgia Tech
27.
Blackburn, David F.
Command Shaping for Vibration Reduction in Nonlinear Cabled Systems.
Degree: MS, Mechanical Engineering, 2006, Georgia Tech
URL: http://hdl.handle.net/1853/11619
► Cables are an integral part of many engineering systems; thus, the control of cables and systems containing cables is an important problem to address. This…
(more)
▼ Cables are an integral part of many engineering systems; thus, the control of cables and systems containing cables is an important problem to address. This thesis proposes to use command shaping techniques to reduce command-induced vibration in two cabled systems, a tower crane and an electrodynamic tethered satellite system in low Earth orbit. Systems containing cables often exhibit important nonlinear dynamics, which complicates the application of command shaping.
As a first step to demonstrate the effectiveness of command shaping techniques for nonlinear cabled systems, nonlinear tower crane dynamics are investigated. A novel command generation technique for the slewing of tower cranes is presented, and experimental results demonstrate its increased effectiveness. Once improvement of tower crane dynamics has been demonstrated, space tether dynamics are considered.
Electrodynamic tethers have the promise to become invaluable propulsive actuators for orbit boost and station keeping. Using electrodynamic tethers, it is possible to boost orbits without the use of propellant because electrical energy is used to produce a Lorentz force that creates orbit boost. Furthermore, electrodynamic tether deboost makes it possible to accelerate the deorbiting of spent rocket stages and other space debris to reduce clutter in the space environment. Unfortunately, the Lorentz force pushes transversely on the cable tether, thereby producing a significant amount of vibration and libration.
This thesis proposes to use command shaping techniques to reduce the command-induced vibration from a boosting operation. Intelligent command generation will significantly reduce the amount of tether libration and string vibration. First, flexible tether dynamics in a constant, circular orbit are investigated. The work is then expanded to include the effects of orbit boosting. The robustness of the command generation techniques is established through numerical simulation.
Advisors/Committee Members: Singhose, William (Committee Chair), Clarke, John-Paul (Committee Member), Sadegh, Nader (Committee Member).
Subjects/Keywords: Input shaping; Space
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APA (6th Edition):
Blackburn, D. F. (2006). Command Shaping for Vibration Reduction in Nonlinear Cabled Systems. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/11619
Chicago Manual of Style (16th Edition):
Blackburn, David F. “Command Shaping for Vibration Reduction in Nonlinear Cabled Systems.” 2006. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/11619.
MLA Handbook (7th Edition):
Blackburn, David F. “Command Shaping for Vibration Reduction in Nonlinear Cabled Systems.” 2006. Web. 12 Apr 2021.
Vancouver:
Blackburn DF. Command Shaping for Vibration Reduction in Nonlinear Cabled Systems. [Internet] [Masters thesis]. Georgia Tech; 2006. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/11619.
Council of Science Editors:
Blackburn DF. Command Shaping for Vibration Reduction in Nonlinear Cabled Systems. [Masters Thesis]. Georgia Tech; 2006. Available from: http://hdl.handle.net/1853/11619
Georgia Tech
28.
Randolph, Tyler W.
Development of automated method of optimizing strength of signal received by laser interferometer.
Degree: MS, Mechanical Engineering, 2009, Georgia Tech
URL: http://hdl.handle.net/1853/29686
► The long-term goal of this research is to assist in the development of a fast, accurate, and low-cost nondestructive inspection prototype for solder joints in…
(more)
▼ The long-term goal of this research is to assist in the development of a fast, accurate, and low-cost nondestructive inspection prototype for solder joints in integrated circuits (IC). The goal of the work described in this thesis is to develop a fully automated system to maintain the signal strength of the vibrometer that would reduce the testing time while maintaining or improving the quality of the defect detection results. The ability to perform the inspections in an automated manner is very important in order to demonstrate the ability of the defect detection system to be used for online inspection without the need of an operator. The system was able to find the maximum signal strength (at a single point on the surface of a flip chip) nearly five times faster than Polytec's commercial system with a search time of approximately 2.1 sec. When integrated into the nondestructive inspection prototype, the system described in this work was found to approximately reduce the data acquisition time per test location by four times, with a minimum data acquisition time of 8.5 sec and an average time of 15.4 sec, while maintaining the same level of quality of results obtained by a skilled operator when manually maintaining the signal strength of the vibrometer.
Hardware was developed that retrofitted a vibrometer's focusing head at the end of a fiber optic cable to a motorized linear stage. This stage controlled the standoff distance between the focusing head and the IC's surface with a fixed focal length, which allowed the spot size of the laser to be adjusted while searching for a desired signal strength. Numerous tests were conducted to determine the search parameters, which led to a search time of approximately 2.1 sec. This time was found to be dependent on the surface finish of the IC being inspected. It was also found that to achieve a desired signal intensity strength, not only does the standoff height of the focusing head, which determines the laser spot size, need to be controlled, but also the exact location on which the laser is reflecting off the IC.
Advisors/Committee Members: Ume, I. Charles (Committee Chair), Mayor, J. Rhett (Committee Member), Sadegh, Nader (Committee Member).
Subjects/Keywords: Autofocus; Vibrometer; Nondestructive inspection; Laser interferometers; Solder and soldering; Integrated circuits Defects; Nondestructive testing
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APA (6th Edition):
Randolph, T. W. (2009). Development of automated method of optimizing strength of signal received by laser interferometer. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/29686
Chicago Manual of Style (16th Edition):
Randolph, Tyler W. “Development of automated method of optimizing strength of signal received by laser interferometer.” 2009. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/29686.
MLA Handbook (7th Edition):
Randolph, Tyler W. “Development of automated method of optimizing strength of signal received by laser interferometer.” 2009. Web. 12 Apr 2021.
Vancouver:
Randolph TW. Development of automated method of optimizing strength of signal received by laser interferometer. [Internet] [Masters thesis]. Georgia Tech; 2009. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/29686.
Council of Science Editors:
Randolph TW. Development of automated method of optimizing strength of signal received by laser interferometer. [Masters Thesis]. Georgia Tech; 2009. Available from: http://hdl.handle.net/1853/29686
Georgia Tech
29.
Shah, Syed Irtiza Ali.
Vision based 3D obstacle detection
using a single camera for robots/UAVs.
Degree: MS, Mechanical Engineering, 2009, Georgia Tech
URL: http://hdl.handle.net/1853/29741
► This thesis aims at detecting obstacles using a single camera in an unknown 3D world for 3D motion of the robot/UAV. Obstacle detection is a…
(more)
▼ This thesis aims at detecting obstacles using a single camera in an unknown 3D world for 3D motion of the robot/UAV. Obstacle detection is a pre-requisite for collision-free motion of robots/UAVs. Most of the research in this area has been for 2D motion of the ground robots and with active sensors e.g Laser range finders, Ultrasonic sensors, SONAR, RADAR etc. The passive camera based research has mostly been done either using triangulation/stereo vision (using more than one camera), or, developing an expectation map pre-hand, of the world and comparing it with the new image data.
In contrast, this thesis, aims at finding solution of the problem using just a single camera in a perfectly unknown world. This requirement is based on the fact that at least a single camera would be carried by almost all robots/UAVs anyway in foreseeable future. Hence the attempt is to use the same camera for obstacle detection and avoidance task as well, so as to come up with a low cost and light weight solution, in order to facilitate building miniature robots/UAVs.
Advisors/Committee Members: Johnson, Eric (Committee Co-Chair), Lipkin, Harvey (Committee Co-Chair), Sadegh, Nader (Committee Member).
Subjects/Keywords: UAVs; Robots; Obstacle detection; Vision; Robotics; Robot vision; Drone aircraft; Detectors; Three-dimensional imaging; Algorithms
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APA ·
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Manager
APA (6th Edition):
Shah, S. I. A. (2009). Vision based 3D obstacle detection
using a single camera for robots/UAVs. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/29741
Chicago Manual of Style (16th Edition):
Shah, Syed Irtiza Ali. “Vision based 3D obstacle detection
using a single camera for robots/UAVs.” 2009. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/29741.
MLA Handbook (7th Edition):
Shah, Syed Irtiza Ali. “Vision based 3D obstacle detection
using a single camera for robots/UAVs.” 2009. Web. 12 Apr 2021.
Vancouver:
Shah SIA. Vision based 3D obstacle detection
using a single camera for robots/UAVs. [Internet] [Masters thesis]. Georgia Tech; 2009. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/29741.
Council of Science Editors:
Shah SIA. Vision based 3D obstacle detection
using a single camera for robots/UAVs. [Masters Thesis]. Georgia Tech; 2009. Available from: http://hdl.handle.net/1853/29741
Georgia Tech
30.
Lerner, Anne-Marie Albanese.
The Design and Implementation of a Magnetorheological Silicone Composite State-Switched Absorber.
Degree: MS, Mechanical Engineering, 2005, Georgia Tech
URL: http://hdl.handle.net/1853/7143
► Tuned vibration absorbers (TVAs) are spring-mass-damper devices used to mini-mize energy in a vibrating body. TVAs decrease in efficiency when the vibrating body is subjected…
(more)
▼ Tuned vibration absorbers (TVAs) are spring-mass-damper devices used to mini-mize energy in a vibrating body. TVAs decrease in efficiency when the vibrating body is
subjected to variable, broadband, or random excitation. A state-switched absorber (SSA)
can be used in these variable, broadband, or random excitation cases to more effectively
reduce excitation. An SSA is a mass-spring-damper where one or more of these elements can instantaneously and discretely change. An SSA was designed, built and tested to fit the
specifications for TVAs found on ATR 72 and 42 airplane fuselages. A magnetorheological
elastomer (MRE), an elastomer with imbedded iron particles, was selected as a variable
spring. Flux lines concentrated through all MREs in absorber configurations. MREs containing
35% iron by volume yielded the largest frequency shift. A 35% MRE based absorber had a frequency range of 45-183 Hz, which corresponds to a 360% frequency increase. Transient absorber behavior was observed by recording rise and drop times to step field intensity changes.The 35% MRE absorber yielded a 0.20 second rise time and a 0.03 second drop time. Future work will determine whether a modified input signal can generate an appropriate
transient response.
Advisors/Committee Members: Cuenfare, Kenneth A. (Committee Chair), Lynch, Christopher (Committee Member), Sadegh, Nader (Committee Member).
Subjects/Keywords: Adaptive element; Vibration absorber
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APA ·
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MLA ·
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CSE |
Export
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Manager
APA (6th Edition):
Lerner, A. A. (2005). The Design and Implementation of a Magnetorheological Silicone Composite State-Switched Absorber. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/7143
Chicago Manual of Style (16th Edition):
Lerner, Anne-Marie Albanese. “The Design and Implementation of a Magnetorheological Silicone Composite State-Switched Absorber.” 2005. Masters Thesis, Georgia Tech. Accessed April 12, 2021.
http://hdl.handle.net/1853/7143.
MLA Handbook (7th Edition):
Lerner, Anne-Marie Albanese. “The Design and Implementation of a Magnetorheological Silicone Composite State-Switched Absorber.” 2005. Web. 12 Apr 2021.
Vancouver:
Lerner AA. The Design and Implementation of a Magnetorheological Silicone Composite State-Switched Absorber. [Internet] [Masters thesis]. Georgia Tech; 2005. [cited 2021 Apr 12].
Available from: http://hdl.handle.net/1853/7143.
Council of Science Editors:
Lerner AA. The Design and Implementation of a Magnetorheological Silicone Composite State-Switched Absorber. [Masters Thesis]. Georgia Tech; 2005. Available from: http://hdl.handle.net/1853/7143
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