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Author: Xiao Cui
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Over the years, the controller design for an unmanned aerial vehicle has been attracting considerable amount of attentions and interests. In this thesis, a quadcopter has been studied intensively, and an adaptive backstepping nonlinear controller, along with altitude control using sonar sensor, has been proposed to ensure the stable flight of a quadcopter. A quadcopter consists of four motors acting as its control means. The proper thrust and air drags produced by the propellers completes the tasks to stabilize the quadcopter in the pitch, roll and yaw directions. An attitude estimation technique, the Mahony filter, was firstly implemented to yield the accurate Euler angles for the quadrotor. To understand such a complex system, the Euler-Lagrangian equations has been introduced to develop a dynamic model. Following such a mathematical model, using backstepping design technique, an adaptive nonlinear controller is designed for and implemented onto a real quadcopter. The derived mathematical model has its own uncertainties, such as changes in mass and the location of the center of the mass. Due to such a nature, an adaptive controller based on the neural network has been proposed to estimate certain nonlinear terms in the mathematical model. Successfully design and implementation of such a controller can improve the accuracy of the dynamic model. The unit quaternion representations was also used to eliminate the Gimbal Lock of the Eular angles. A different mathematical model based on Newton equations was also used to further consider the air drag effect of a quadrotor while flying in the air. Proceeding to the attitude controller design, an altitude controller is also designed to lock the flying height of the quadcopter. The design concepts are based on a traditional nonlinear backstepping method. Matlab simulation results suggest a possible implementation of the proposed controller for the quadcopter's altitude and attitude control. A couple of real time experiments have been conducted. The results was recorded and analysed.
Author: Xiao Cui
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Over the years, the controller design for an unmanned aerial vehicle has been attracting considerable amount of attentions and interests. In this thesis, a quadcopter has been studied intensively, and an adaptive backstepping nonlinear controller, along with altitude control using sonar sensor, has been proposed to ensure the stable flight of a quadcopter. A quadcopter consists of four motors acting as its control means. The proper thrust and air drags produced by the propellers completes the tasks to stabilize the quadcopter in the pitch, roll and yaw directions. An attitude estimation technique, the Mahony filter, was firstly implemented to yield the accurate Euler angles for the quadrotor. To understand such a complex system, the Euler-Lagrangian equations has been introduced to develop a dynamic model. Following such a mathematical model, using backstepping design technique, an adaptive nonlinear controller is designed for and implemented onto a real quadcopter. The derived mathematical model has its own uncertainties, such as changes in mass and the location of the center of the mass. Due to such a nature, an adaptive controller based on the neural network has been proposed to estimate certain nonlinear terms in the mathematical model. Successfully design and implementation of such a controller can improve the accuracy of the dynamic model. The unit quaternion representations was also used to eliminate the Gimbal Lock of the Eular angles. A different mathematical model based on Newton equations was also used to further consider the air drag effect of a quadrotor while flying in the air. Proceeding to the attitude controller design, an altitude controller is also designed to lock the flying height of the quadcopter. The design concepts are based on a traditional nonlinear backstepping method. Matlab simulation results suggest a possible implementation of the proposed controller for the quadcopter's altitude and attitude control. A couple of real time experiments have been conducted. The results was recorded and analysed.
Author: Nor Muzlifah Mahyuddin
Publisher: Springer Nature
ISBN: 9811681295
Category : Technology & Engineering
Languages : en
Pages : 1124
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Book Description
The proceeding is a collection of research papers presented at the 11th International Conference on Robotics, Vision, Signal Processing & Power Applications (RoViSP 2021). The theme of RoViSP 2021 “Enhancing Research and Innovation through the Fourth Industrial Revolution (IR 4.0)” served as a platform for researchers, scientists, engineers, academicians as well as industrial professionals from all around the globe to present and exchange their research findings and development activities through oral presentations. The book covers various topics of interest, including: Robotics, Control, Mechatronics and Automation Telecommunication Systems and Applications Electronic Design and Applications Vision, Image and Signal Processing Electrical Power, Energy and Industrial Applications Computer and Information Technology Biomedical Engineering and Applications Intelligent Systems Internet-of-things Mechatronics Mobile Technology
Author: Amer Mahdy Hamadi
Publisher:
ISBN:
Category : Autonomous robots
Languages : en
Pages : 58
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Book Description
"Quadrotors are considered nowadays one of the fastest growing technologies. It is entering all fields of life making them a powerful tool to serve humanity and help in developing a better life style. It is crucial to experiment all possible ways of controlling quadrotors, starting from classical methodologies to cutting edge modern technologies to serve their purpose. In most of the times quadrotors would have combination of several technologies on board. The attitude angles and altitude control used in this thesis are based mainly on PID control which is modeled and simulated on MATLAB and Simulink. To control the quadrotor behavior for two different tasks, Obstacle Avoidance and Command by Hand Gesture, the use of Convolutional Neural Networks (CNN) was proposed, since this new technology had shown very impressive results in image recognition in recent years. A considerable amount of training images (datasets) were created for the two tasks. Training and testing of the CNN were performed for these datasets, and real time flight experiments were performed, using a ground station, a Arduino microcontroller and interface circuit connected to the quadrotor. Results of the experiments show an excellent error rates for both tasks. The system performance reflects a major advantage of scalability for classification for new classes and other complex tasks, towards an autonomous flying and more intelligent behavior of quadrotors."--Abstract.
Author: Lorenzo Sciavicco
Publisher: Springer Science & Business Media
ISBN: 1447104498
Category : Technology & Engineering
Languages : en
Pages : 391
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Book Description
Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Author: Anis Koubaa
Publisher: Springer Nature
ISBN: 3030779394
Category : Technology & Engineering
Languages : en
Pages : 731
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Book Description
This book is used at the graduate or advanced undergraduate level and many others. Manned and unmanned ground, aerial and marine vehicles enable many promising and revolutionary civilian and military applications that will change our life in the near future. These applications include, but are not limited to, surveillance, search and rescue, environment monitoring, infrastructure monitoring, self-driving cars, contactless last-mile delivery vehicles, autonomous ships, precision agriculture and transmission line inspection to name just a few. These vehicles will benefit from advances of deep learning as a subfield of machine learning able to endow these vehicles with different capability such as perception, situation awareness, planning and intelligent control. Deep learning models also have the ability to generate actionable insights into the complex structures of large data sets. In recent years, deep learning research has received an increasing amount of attention from researchers in academia, government laboratories and industry. These research activities have borne some fruit in tackling some of the challenging problems of manned and unmanned ground, aerial and marine vehicles that are still open. Moreover, deep learning methods have been recently actively developed in other areas of machine learning, including reinforcement training and transfer/meta-learning, whereas standard, deep learning methods such as recent neural network (RNN) and coevolutionary neural networks (CNN). The book is primarily meant for researchers from academia and industry, who are working on in the research areas such as engineering, control engineering, robotics, mechatronics, biomedical engineering, mechanical engineering and computer science. The book chapters deal with the recent research problems in the areas of reinforcement learning-based control of UAVs and deep learning for unmanned aerial systems (UAS) The book chapters present various techniques of deep learning for robotic applications. The book chapters contain a good literature survey with a long list of references. The book chapters are well written with a good exposition of the research problem, methodology, block diagrams and mathematical techniques. The book chapters are lucidly illustrated with numerical examples and simulations. The book chapters discuss details of applications and future research areas.
Author: Mahmut Reyhanoglu
Publisher: BoD – Books on Demand
ISBN: 1789845661
Category : Technology & Engineering
Languages : en
Pages : 112
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Book Description
This book presents recent studies of unmanned robotic systems and their applications. With its five chapters, the book brings together important contributions from renowned international researchers. Unmanned autonomous robots are ideal candidates for applications such as rescue missions, especially in areas that are difficult to access. Swarm robotics (multiple robots working together) is another exciting application of the unmanned robotics systems, for example, coordinated search by an interconnected group of moving robots for the purpose of finding a source of hazardous emissions. These robots can behave like individuals working in a group without a centralized control.
Author: Meiping Wu
Publisher: Springer Nature
ISBN: 9811694923
Category : Technology & Engineering
Languages : en
Pages : 3575
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Book Description
This book includes original, peer-reviewed research papers from the ICAUS 2021, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2021 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
Author: Vignesh, U.
Publisher: IGI Global
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 272
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Book Description
The amalgamation of artificial intelligence (AI), optimization techniques, and blockchain is revolutionizing how to conceptualize, design, and operate aerospace systems. While optimization techniques are pivotal in streamlining aerospace processes, security challenges have recently surfaced. AI and Blockchain Optimization Techniques in Aerospace Engineering delves into the transformative impact of technologies on various facets of the aerospace industry, offering a multidimensional solution to overcome security concerns and enhance the overall efficiency of aerospace systems The book explores how machine learning reshapes aerospace systems by automating complex tasks through self/reinforced learning methods. From air traffic data analysis to flight scheduling, geographical information, and navigation, machine learning has become an indispensable tool, offering valuable insights that enhance aerospace operations. Simultaneously, blockchain technology, with its inherent characteristics of decentralization and tamper-proof ledgers, ensures transparency, accountability, and security in transactions, providing an innovative approach to data integrity and system resilience. Designed for technology development professionals, academicians, data scientists, industrial experts, researchers, and students, the book offers a panoramic view of the latest innovations in the field.
Author: Nishchal K. Verma
Publisher: Springer
ISBN: 9811311323
Category : Technology & Engineering
Languages : en
Pages : 594
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Book Description
This book presents selected proceedings of ICCI-2017, discussing theories, applications and future directions in the field of computational intelligence (CI). ICCI-2017 brought together international researchers presenting innovative work on self-adaptive systems and methods. This volume covers the current state of the field and explores new, open research directions. The book serves as a guide for readers working to develop and validate real-time problems and related applications using computational intelligence. It focuses on systems that deal with raw data intelligently, generate qualitative information that improves decision-making, and behave as smart systems, making it a valuable resource for researchers and professionals alike.
Author: T. Hikmet Karakoc
Publisher: Springer Nature
ISBN: 3031453212
Category : Technology & Engineering
Languages : en
Pages : 197
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Book Description
Unmanned Aerial Vehicle Design and Technology provides readers with a comprehensive introduction to unmanned aerial systems (UAS) technology basics. The book presents clear, concise guidance on UAS system design, components, control, and operations fundamentals. Additional chapters look at unmanned aerial regulations and ethics and the historical background of UAS technology. This textbook offers a well-rounded look at unmanned flight technology, making it an ideal primer for aviation and aerospace students and anyone interested in learning more about unmanned aerial systems, including engineers, technicians, drone and flight hobbyists, and civil aviation organization officials.
