In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of waypoint navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make adv...
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In this study, a new architecture for tele-visual servoing of a robotic manipulator is presented. An overview of methods employed for controlling robotic manipulators using a camera is illustrated. Image-based and pos...
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In this study, a new method of information fusion DSmT (Dezert-Smarandache Theory) which is extended from Bayesian Theory and Dempster-Shafer Theory (DST) is introduced to solve the problem of robot map building in an...
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This paper presents the mechanical design and kinematic analysis methodologies of a 3-PRR flexure-based parallel mechanism, which can be utilized to conduct planar precision positioning as required for automating micr...
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ISBN:
(纸本)9780889868106
This paper presents the mechanical design and kinematic analysis methodologies of a 3-PRR flexure-based parallel mechanism, which can be utilized to conduct planar precision positioning as required for automating micro/ nano manipulation tasks. Flexure hinges are used as the revolute joints to provide smooth motion in the range of micrometers. Three high performance piezoelectric actuators are utilized to drive the flexure-based mechanism. The kinematics of the proposed flexure-based parallel mechanism is established. Finite element analysis is conducted to validate the performance of the 3-PRR flexure-based parallel mechanism. Two simplified methodologies are proposed to improve the computational efficiency of the kinematics of the developed mechanism.
Finite Time Stability of LTI systems with matched perturbations using dynamic output feedback is achieved under the assumptions of strong observability,controllability and known bounds for the *** is shown that only g...
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Finite Time Stability of LTI systems with matched perturbations using dynamic output feedback is achieved under the assumptions of strong observability,controllability and known bounds for the *** is shown that only global controllers are well suited for this *** cases are studied: when the relative degree is well-defined and when it is *** examples are presented in order to illustrate the proposed approach.
This manuscript tackles the regulation problem of linear time invariant systems with unmatched perturbations. A high order sliding mode observer is used allowing theoretically exact state and perturbation estimation. ...
This manuscript tackles the regulation problem of linear time invariant systems with unmatched perturbations. A high order sliding mode observer is used allowing theoretically exact state and perturbation estimation. A compensation control approach based on the identified perturbation values is proposed ensuring exact regulation of the unmatched states. A simulation example shows the feasibility of this approach.
Finite Time Stability of LTI systems with matched perturbations using dynamic output feedback is achieved under the assumptions of strong observability, controllability and known bounds for the perturbations. It is sh...
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ISBN:
(纸本)9781424438716
Finite Time Stability of LTI systems with matched perturbations using dynamic output feedback is achieved under the assumptions of strong observability, controllability and known bounds for the perturbations. It is shown that only global controllers are well suited for this task. Two cases are studied: when the relative degree is well-defined and when it is not. Simulation examples are presented in order to illustrate the proposed approach.
This paper describes an object tracking system using an autonomous micro air vehicle (MAV) and demonstrate its potential use for civilian purposes. The vision-based control system relies on a color and feature based v...
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This paper describes an object tracking system using an autonomous micro air vehicle (MAV) and demonstrate its potential use for civilian purposes. The vision-based control system relies on a color and feature based vision algorithm for target detection and tracking, Kalman filters for relative pose estimation, and a nonlinear controller for MAV stabilization and guidance. The vision algorithm relies on information from a single onboard camera. An arbitrary target can be selected in real-time from the ground control station, thereby outperforming template and learning-based approaches. Experimental results obtained from outdoor flight tests, showed that the vision-control system enabled the MAV to track and hover above the target as long as the battery is available.
In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of way-point navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make ad...
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In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of way-point navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini and micro rotorcraft, a lightweight/portable and inexpensive Guidance, Navigation, and control system (GN&C) was developed. To compensate for the weaknesses of the low-cost equipment, we put our efforts in obtaining a reliable model-based nonlinear controller. The GN&C system was implemented on a small four rotor helicopter which has undergone an extensive program of flight tests, resulting in various flight behaviors under autonomous control from takeoff to landing. Flight test results that demonstrate the operation of the GN&C algorithms on a real MAV are presented.
Many applications of unmanned aerial vehicles (UAVs) require the capability to navigate to some goal and to perform precise and safe landing. In this paper, we present a visual navigation system as an alternative pose...
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Many applications of unmanned aerial vehicles (UAVs) require the capability to navigate to some goal and to perform precise and safe landing. In this paper, we present a visual navigation system as an alternative pose estimation method for environments and situations in which GPS is unavailable. The developed visual odometer is an incremental procedure that estimates the vehicle's ego-motion by extracting and tracking visual features, using an onboard camera. For more robustness and accuracy, the visual estimates are fused with measurements from an Inertial Measurement Unit (IMU) and a Pressure Sensor Altimeter (PSA) in order to provide accurate estimates of the vehicle's height, velocity and position relative to a given location. These estimates are then exploited by a nonlinear hierarchical controller for achieving various navigation tasks such as take-off, landing, hovering, target tracking, etc. In addition to the odometer description, the paper presents validation results from autonomous flights using a small quadrotor UAV.
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