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|b eng
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|9 31298
|a Orsag, Matko
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|a Hybrid adaptive control system with augmented user interaction for stable aerial manipulation:
|b doctoral thesis /
|c Matko Orsag ; mentori Stjepan Bogdan i Paul Oh
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|a Zagreb:
|b M. Orsag ; Fakultet elektrotehnike i računarstva,
|c 2014.
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|a 183 str.:
|b ilustr. u bojama;
|c 30 cm +
|e CD
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|a Bibliografija: str. 157-173.
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|a Ovom doktorskom disertacijom nastoji se proširiti mogućnosti specijaliziranog područja robotike, bespilotnih letjelica, dodajući im sposobnost manipulacije okolinom. Disertacijom su obuhvaćeni fundamentalni problemi ovako složenih sustava: matematičko modeliranje dinamike sustava, analiza stabilnosti sustava upravljanja i razvoj sučelja čovjeka i bespilotnog robotskog sustava
Disertacija započinje predstavljanjem detaljnog matematičkog modela letjelice opremljene za manipulacije u zraku, uključujući fundamentalne aerodinamične utjecaje. Disertacija potom analizira utjecaj dinamike manipulatora, kao i efekte dodira s okolinom. Konačno, rad predstavlja cjeloviti model sustava za manipulacije u zraku. Analizom cjelovitog modela jasno je pokazan utjecaj zglobova manipulatora na stabilnost sustava, te se predlaže struktura adaptivnog upravljanja s referentnim modelom i prepodešenim parametrima, kojom se osigurava njegova stabilnost. Metodom Ljapunova, matematički se dokazuje stabilnost predloženog sustava upravljanja. Konačno, disertacija opisuje sintezu proširenog korisničkog sučelja između operatera i sustava, zasnovanog na pokretima, zvuku i vizualnoj povratnoj vezi, čija autonomija ovisi o psihofizičkom stanju operatera. Kraj disertacije posvećen je eksperimentalnoj validaciji cjelokupnog sustava.
Ključne riječi - Bespilotna letjelica, manipulator, zračna robotika, mobilna robotika, hibridni sustavi, sustavi s diskretnim događajima, sučelje čovjeka i stroja, podesiva autonomija
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|a This thesis extends the current state of the art in Unmanned Aerial Vehicle (UAV) research by introducing multiple degree of freedom manipulators attached to its body, thus yielding a mobile manipulating UAV (MM-UAV). As a mobile manipulating UAV establishes contact with the ground, the analysis starts with a modeling approach capable of capturing dynamical properties of multiple rigid body systems with no, single and multiple contacts with the ground. Finally, the thesis explores aerial vehicle dynamics by removing contacts with the ground, deriving a nonlinear mathematical model that incorporates aerodynamic effects of forward and vertical flights. This basic quadrotor UAV model is then extended to take into account the multiple link body system dynamics. Due to the stability problems in aerial manipulation, thesis investigates the potential use of adaptive control techniques to control a multi-arm manipulating aerial vehicle (i.e. gain scheduling control, model reference adaptive controller) which are verified using the Lyapunov stability theory. Finally, this work proposes a human machine interface that goes beyond simple joystick control to allow a single operator to easily teleoperate the UAV. The design of HMI falls under the category paradigm known as Mixed-Initiative Adjustable Autonomy, which was tested with supervisor's override of operator’s controls. Both autonomous and teleoperation modes are tested and compared experimentally.
Keywords - Unmanned aerial vehicle (UAV), multi-link manipulator, aerial manipulation, aerial robotics, mobile robotics, hybrid systems, discrete-event systems, mixed initiative adjustable autonomy, human machine interface (HMI)
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|4 ths
|9 9561
|a Bogdan, Stjepan
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|4 ths
|9 39022
|a Oh, Paul
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|c D
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|c 43719
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