Title: Model for Application to Higher Harmonic Control and Flight Control System Interaction This dissertation addresses a system, generally known as “Higher Harmonic Control” (HHC) because it consists of superimposing high frequency rotor inputs to the conventional low frequency ones used to control and maneuver the helicopter…. Contents 1 Introduction 1.1 Motivation 1.2 Literature review [...]
Space Science Projects
Space science is an all-encompassing term that describes all of the various science fields that are concerned with the study of the Universe. This section is dedicated to space science projects, space science project ideas, space engineering project samples, space science project topics, space science project list, final year space science project titles for students.
Close Conjunction Detection on Parallel Computer
Close conjunction detection is the task of finding which satellites will come within a given distance of other satellites. The algorithms described here are implemented on the Connection Machine (CM) in a program called CM-COMBO. It will find close conjunctions of satellites over a time range for one, a few, or all satellites against the [...]
Actuators for autonomous microrobots
This thesis presents actuators used in autonomous microsystems. Characteristic for all actuators presented is the low drive voltage and the low power consumption. Different motion mechanisms have been studied and applied in various locomotion modules for microrobots… Contents 1 Introduction 1.1 Background 2 Autonomous microrobots . 2.1 Introduction to microrobots 2.2 The MiCRoN robots 2.2.1 [...]
Design and Testing of an Autorotative Payload Delivery System: The Autobody
This thesis presents the design, testing and analysis of an autonomous autorotative payload delivery system called the Autobody. The Autobody must passively deploy a payload on ground from an aircraft by means of an autorotative rotor. The system must achieve the steady state autorotation quickly to minimize its impact upon landing. A hub design incorporating [...]
Stability and Control Modeling of Tiltrotor Aircraft
This thesis develops a simple open-source model of a tiltrotor using the basic equations of motion. The model focused on stability and control aspects of the XV-15 aircraft using simple linear analysis and, in general, did not add in correction or scaling factors to obtain a better match with flight data. Subsequent analysis performed included [...]
Study and implementation of wheel walking for a Mars rover
Mars is recently the most popular destination for planetary exploitation. A large extent of scientific research have shown that there was very likely water on this red planet, and even oceans might exist before. Although due to the extremely long distance and high mission budge, present and near future research projects are mostly based on [...]
Semi-Active Magnetorheological Seat Suspensions for Enhanced Crashworthiness and Vibration Isolation of Rotorcraft Seats
This research focuses on the use of magnetorheological (MR) dampers for enhanced occupant protection during harsh vertical landings as well as isolation of the occupant from cockpit vibrations. The capabilities of the current state-of-the-art in helicopter crew seat energy absorption systems are highly limited because they cannot be optimally adapted to each individual crash scenario… [...]
The design of an energy management system
The focus of this thesis was to design an energy management system for Marsokhod, a six-wheeled Martian rover. The rover is designed with a distributed energy system, each wheel contains a battery, motor controller and H-bridge, while each battery provides power to any other wheel. A background study is performed, highlighting the challenges for producing [...]
Plan-Based Configuration of a Group of Robots
Imagine the following situation. You give your favorite robot, named Pippi, the task to fetch a parcel that just arrived at your front door. While pushing the parcel back to you, she must travel through a door opening. Unfortunately, the parcel she is pushing is blocking her camera, giving her a hard time to see [...]
Two Link Harmonically Driven Robotic Manipulator
Title: Force Estimation Based Compliance Control of a Two Link Harmonically Driven Robotic Manipulator The estimation of external forces exerted on a robotic manipulator with harmonic drive gearing without a force/torque sensor is considered. Manipulator dynamics, together with motor current feedback are used to estimate external joint torques, which are transformed into estimated external… Contents [...]