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1
Persson, Mikael, et Tim Andersson. « Utveckling av en Quadcopter ». Thesis, KTH, Data- och elektroteknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-123710.
Texte intégralRésumé :
Examensarbetets mål är att bygga en Quadcopter som kan flyga och styras via en radio-sändare i alla riktningar, stabilisera sig själv i luften, kunna landa autonomt och den skall även motverka krock i framåtgående riktning.För att uppnå grundmålet att kunna flyga så implementerades en PID-kontroller som används för att stabilisera Quadcoptern i luften genom att reglera motorer efter sensor-orientering. Denna sensororientering fås kombinera vinkeldata från en accelerometer och ett gyroskop.För att uppnå målet med autonom landning så användes en ultraljudssensor. En egen algoritm utvecklades för att läsa avstånd från marken. Avståndet från marken användes som grund för att skapa en egen algoritm för den autonoma landningen.Quadcoptern kan i slutprodukten stabilisera sig själv i luften, styras via radio och landa autonomt. Säkerhetsfunktioner som att aktivera autonom landning ifall Quadcoptern kommer utanför radions täckning är implementerade och även en brytare som stänger av motorerna. Det enda som inte implementerades var krocken i framåtgående riktning eftersom att en ultraljudssensor inte var lämpad för detta användningsområde.The goal of the thesis is to build a quadcopter that can fly and be controlled via a radio transmitter in all directions, stabilizing itself in the air, to land autonomously and detect collisions in the forward direction.In order to achieve the basic goal of being able to fly, a PID controller was implemented which is used to stabilize the Quadcopter in the air by controlling the motors with help from sensor orientation. This sensor orientation is obtained from a complementary filter that merges angle data from an accelerometer and a gyroscope. Both an accelerometer and a gyroscope are required to automatically stabilize the Quadcopter in the air.To achieve the goal of autonomous landing an ultrasonic sensor was used. An algorithm was developed to read the distance from the ground which was a basis for creating our own algorithm for autonomous landing.The Quadcopter has the ability to stabilize itself in the air, be controlled via a radio transmitter and land autonomously. A safety feature that enables autonomous landing if the Quadcopter travels outside the radio coverage is implemented and also a switch that turns off the engines. The only thing that wasn’t implemented was the crash avoidance in the forward direction because the ultrasonic sensor was not suited for this application.
2
Haugen, Kenneth Eide. « Surface Mapping using Quadcopter ». Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2014. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-25916.
Texte intégralRésumé :
This thesis studies the use of unmanned aerial vehicles to perform ice managementin the Arctic Ocean by gathering information about and physically control the iceenvironment. Such a system is needed for safety reasons as marine operations aremoving further north. In order to gather information about the ice environment, aUAV will be used for surface mapping. The quadcopter Parrot AR. Drone 2.0 will be used as a testbed for implementing proposed strategies for guidance, navigation and control while doing surface mapping using a camera. A guidance and navigation system is designed and implemented using measurements from onboard sensors and the camera system OptiTrack, which is used to measure position, velocity and orientation of the quadcopter. Using these estimated states as parameters and inputs to a proportional-integral-derivative controller, the position will be controlled. Waypoints are calculated according to desired parameters provided by an operator. An autonomous guidance, navigation and control system that moves the drone in a search pattern inside a desired area requested by the operator, is the result of the designed surface mapping strategy. An algorithm that performs object detection and mapping is implemented for the onboard camera to be able to detect objects in the lab setup. Back-projection of a 2D pixel point to respective world coordinates is implemented. C++ is used for all modules.Sub modules are simulated in Matlab and Simulink before tested with the AR.Drone. Simulations and measurements from lab testing are compared for performance evaluation. Results for the overall implementation shows that a UAV platform for doing object mapping is indeed a concept to pursue. However, this lab setup would not be applicable in a real world experiment. The AR. Drone will, due to its weight and limited power, not be able to operate under heavy wind and weather conditions. Also, detection of ice is more complicated than the suggested implementation, due to factors like weather and light reflections. It should be clear that this system design is rather a prototype illustration of a concept than a system to be used.
3
Johansson, Axel, et David Wallén. « Quadcopter Sensor and filter evaluation ». Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-191216.
Texte intégralRésumé :
In an electromechanical system hardware and software interoperate to perform a given task. Regardless of the task, it can be hard to know what level of complexity of components and software needed to perform well. Could you save on production costs by using cheaper sensors or is more expensive alternatives from well-known manufacturers needed? Does the control become simpler if you have more expensive sensors or is there always a need for advanced algorithms and filters? In this report a quadcopter controlled by two different sensors and two different filters has been investigated. The two filters that were compered consisted of a simple complementary filter and a more advanced Kalman filter. The quadcopter was used as an empirical test to see how varying amount of disturbances or less exact data from the sensors affect a real system. The results showed that the performance of the different sensors were quite similar, both in the area of raw data, calculated standard deviances and what was visually observable. With the constructed control system, the quadcopter was stabilizing around one axis with an accuracy of ±4° and the cheaper sensor actually recorded a lower standard deviance of the angle (1.624° compared to 1.754° for the more expensive sensor).I ett system samspelar hårdvara och mjukvara för att tillsammans utföra önskad uppgift, men det kan vara svårt att veta vilken nivå på komponenter samt kod som krävs. Kan man spara in på produktionskostnader genom att använda billiga sensorer eller bör man investera i dyrare varianter från välkända tillverkare? Blir regleringen enklare om man investerar i en bra sensor eller behövs det alltid avancerade algoritmer och filter? I denna rapport presenteras resultaten från undersökningar av en quadcopter som reglerats med hjälp av två olika sensorer samt använt sig av två olika filter för att filtrera indatat. De två filtren som jämfördes var ett enkelt komplementärfilter och ett mer komplicerat Kalmanfilter. Quadcoptern användes som ett praktiskt test för att se hur mycket störningar eller mindre exakt data från sensorer påverkar ett verkligt system. Resultatet visade att prestandan för sensorerna blev väldigt snarlika, både gällande mätvärden, beräknade standardavvikelser och vad som var visuellt observerbart. Med den konstruerade regulatorn svängde quadcoptern (runt en axel) vid användandet av båda sensorerna mellan ±4° fast den billigare sensorn hade en något lägre standardavvikelse av vinkeln (1.624° jämfört med 1.754° för den dyrare).
4
Barbosa, Fernando dos Santos. « 4DOF Quadcopter : development, modeling and control ». Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-23102017-144556/.
Texte intégralRésumé :
This text presents the development of a four-degree-of-freedom (4DOF) quadcopter prototype that allows the vehicle to rotate around the three axes (yaw, pitch and roll) and linear movement along z-axis (altitude). The goal is to obtain a prototype bench that uses a good amount of components used in commercial quadcopters (sensors and actuators) and use it to apply attitude and altitude controllers, using techniques such as PID, LQR and Sliding-Mode. Starting from the system modeling, its specifications are shown followed by listing the components used, finishing with the development of the controllers and their simulations and applications.Este texto apresenta o desenvolvimento de um protótipo de quadricóptero com quatro graus de liberdade (4DOF), o qual possibilita a rotação do veículo em torno dos três eixos (yaw, pitch e roll) e o deslocamento ao longo do eixo z (altitude). O objetivo é obter um protótipo de bancada que use a maior quantidade de componentes de um quadricóptero comercial (sensores e atuadores) e usá-lo para a aplicação de controladores de atitude e altitude, utilizando técnicas PID, LQR e Sliding-Mode. Partindo da modelagem do sistema, mostra-se as especificações do mesmo, os componentes utilizados e finaliza-se com o desenvolvimento dos controladores, simulação e aplicação deles.
5
Bjarre, Lukas. « Robust Reinforcement Learning for Quadcopter Control ». Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-277631.
Texte intégralRésumé :
Sim-to-Reality transfer in Reinforcement Learning is a promising approach ofsolving costly exploration in real systems, but it comes with the generalizationproblem of transferring policies from simulators to real systems. This thesislooks at ideas presented by Robust Markov Decision Processes, which combinesideas from Reinforcement Learning and Robust Control to create agentswith embedded uncertainty about the simulated environment, opting for pessimisticoptimization in order to handle potential gaps between simulators andreality. These ideas are adapted in order to apply it to a state-of-the-art DeepReinforcement Learning algorithm.The adaptations were tested on the task of positional control of a quadcopter,where agents were trained in a simple simulator and tested on versionsof the simulator with different environment parameters. Agents with higherlevel of robustness outperformed the standard agents in these environments,suggesting that the added robustness increases generality and can help whentransferring policies from simulators to reality.Överföring från simulator till verklighet är ett lovande tillvägagångsätt inomförstärkt inlärning för att lösa problem med dyr utforskning i verkliga system,men kommer med generaliseringsproblem då styrlagar överförs från simulatorertill verkliga system. Den här tesen studerar idéer presenterade med robustaMarkovbeslutsprocesser, där idéer från förstärkt inlärning och robust reglerteknikkombineras för att skapa agenter med inbygd osäkerhet om den simulerademiljön, där potentiella gap mellan simulator och verklighet hanteras genompessimistik optimisering. Dessa idéer anpassas för att kunna appliceraspå en modern algoritm inom djup försärkt inlärning.Anpassningarna testades på uppgiften om positionell styrning av en fyrbladigdrönare, där agenter tränades i en simpel simulator och testades på versionerav simulatorn med olika miljöparametrar. Agenter med högre nivå avrobusthet utpresterade standardagenterna i dessa miljöer vilket indikerar attden tillagda robustheten ökar generaliseringsförmågor och kan hjälpa till vidöverförning av styrlagar från simulatorer till verklighet.
6
Almeida, Diogo. « Event-Triggered Attitude Stabilization of a Quadcopter ». Thesis, KTH, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-147200.
Texte intégralRésumé :
There are many possible ways to perform the attitude control of a quadcopter and, recently, the subject of event-triggered control has become relevant in the scientic community. This thesis deals with the analysis and implementation of a saturating attitude controller for a quadcopter system, together with the derivation of an event-triggering rule to work with it. Two distinct rules are presented, one that ensures the stability of the closed loop system, the other, a linearised version that does not. The way those were derived consists in the use of a Lyapunov based approach. The stability of the system when under these rules was veried experimentally.
7
Gopabhat, Madhusudhan Meghana. « Control of Crazyflie nano quadcopter using Simulink ». Thesis, California State University, Long Beach, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10102593.
Texte intégralRésumé :
This thesis focuses on developing a mathematical model in Simulink to Crazyflie, an open source platform. Attitude, altitude and position controllers of a Crazyflie are designed in the mathematical model. The mathematical model is developed based on the quadcopter system dynamics using a non-linear approach. The parameters of translational and rotational dynamics of the quadcopter system are linearized and tuned individually. The tuned attitude and altitude controllers from the mathematical model are implemented on real time Crazyflie Simulink model to achieve autonomous and controlled flight.
8
Ye, Haoquan. « Control of Quadcopter UAV by Nonlinear Feedback ». Case Western Reserve University School of Graduate Studies / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=case1523544168630815.
Texte intégral
9
Palivela, Yaswanth. « Speech Assisted Interface for Quadcopter Flight Control ». University of Toledo / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1526247041269609.
Texte intégral
10
Cunta, Aharon. « Novel quadcopter flight controller and telemetry remote ». Thesis, Cunta, Aharon (2015) Novel quadcopter flight controller and telemetry remote. Honours thesis, Murdoch University, 2015. https://researchrepository.murdoch.edu.au/id/eprint/29840/.
Texte intégralRésumé :
This project designed, constructed and implemented a novel quadcopter flight controller and remote.
With the quadcopters’ popularity ever increasing, more people are making use of the advantages this machine can offer. From surf photographers to hobbyists, the quadcopter needs to be easy to setup, tune and relay information back to the operator to ensure safe flight. A functionality not found on today’s market.
Components were chosen, tested and implemented to create a functioning quadcopter flight controller and remote system.
Although the implementation is regarded as being successful, there are still some design changes that could improve the functionality of the system. Noise from altitude readings hampered the altitude hold functionality and as well as no method implemented to counter for the change in barometric pressure throughout the day. But with efficient code making use of hardware the hardware, there is still sufficient computational time left to implement signal filtering simply not available at the lower market end of commercial flight controllers. An additional $10 barometer could also solve the altitude creep as ground barometric pressure changes.
11
Mirghasemi, Seyed Alireza. « Fractional Order Controller for Quadcopter Subjected to Ground Effect ». Thesis, Université d'Ottawa / University of Ottawa, 2019. http://hdl.handle.net/10393/39252.
Texte intégralRésumé :
Although the concept of fractional calculus was known for centuries, it was not considered in engineering due to the lack of implementation tools and acceptable performance of integer order models and control. However, recently, engineers and researchers started to investigate the potentially high performance of fractional calculus in various fields among which are acoustics, conservation of mass, diffusion equation and specifically in this thesis control theory. The intention of this thesis is to analyze the relative performance of fractional versus integer order PID controller for a quadcopter. Initially, the dynamics of the quadcopter is presented with additional consideration of the ground effect and torque saturation. Then, are introduced the concept of fractional calculus and the mathematical tools to be used for modeling fractional order controller. Finally, the performance of the fractional order controller is evaluated by comparing it to an integer order controller.
12
Kugelberg, Ingrid. « Black-Box Modeling and Attitude Control of a Quadcopter ». Thesis, Linköpings universitet, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-125649.
Texte intégralRésumé :
In this thesis, black-box models describing the quadcopter system dynamics for attitude control have been estimated using closed-loop data. A quadcopter is a naturally unstable multiple input multiple output (MIMO) system and is therefore an interesting platform to test and evaluate ideas in system identification and control theory on. The estimated attitude models have been shown to explain the output signals well enough during simulations to properly tune a PID controller for outdoor flight purposes. With data collected in closed loop during outdoor flights, knowledge about the controller and IMU measurements, three decoupled models have been estimated for the angles and angular rates in roll, pitch and yaw. The models for roll and pitch have been forced to have the same model structure and orders since this reflects the geometry of the quadcopter. The models have been validated by simulating the closed-loop system where they could explain the output signals well. The estimated models have then been used to design attitude controllers to stabilize the quadcopter around the hovering state. Three PID controllers have been implemented on the quadcopter and evaluated in simulation before being tested during both indoor and outdoor flights. The controllers have been shown to stabilize the quadcopter with good reference tracking. However, the performance of the pitch controller could be improved further as there have been small oscillations present that may indicate a stronger correlation between the roll and pitch channels than assumed.
13
Nemati, Alireza. « Designing, Modeling and Control of a Tilting Rotor Quadcopter ». University of Cincinnati / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1470672220.
Texte intégral
14
Szabo, Andrew P. « System Identification and Model-Based Control of Quadcopter UAVs ». Wright State University / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=wright1553197265058507.
Texte intégral
15
Onn, Oscar. « Application of a flight chip in an underwater quadcopter ». Thesis, KTH, Skolan för teknikvetenskap (SCI), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-297467.
Texte intégralRésumé :
This paper aims to describe the entire processof developing and testing an underwater quadcopter using aflight chip (FC) as the steering computer. The problem withthe FC is that the physics differs between using an air droneand an underwater drone. Most importantly, buoyancy is notnegligible underwater, while it is negligible in the air. Ultimately,it proved to be possible to design and build a usable underwaterquadcopter using an FC. The main design requirements foundto be important to make this possible is to decrease buoyancyas much as possible while still creating a watertight enclosure.
16
Leijel, Rosemarie Helena. « Quadcopter formation simulated in a choreographed dance to music ». Thesis, KTH, Skolan för teknikvetenskap (SCI), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-210823.
Texte intégralRésumé :
The purpose of this project is to simulate a dance formation for a group of quadcopters, moving in rhythm to music. Focus has lied on getting the dance to move in synchronization to the music. A description of the quadcopter and its dynamics is made. After simplifications was made, the dance was designed by controlling the velocities of the quadcopters. A song was chosen for the music and a beat detection analysis was made to calculate the number of beats per minute (BPM) of the song. The BPM was used when creating the dance formation. Velocity restrictions and the composition of the music was the governing factors of how the dance was designed. A feedback control was implemented into the dance formation. The simulation was performed in MATLAB and a video was made of the resulting dance. The idea is that the simulation can be tested on real quadcopters, additions to the project can be made for future work to implement this.
17
Friman, Jacob, et Rosmarie Helena Leijel. « Quadcopter formation simulated in a choreographed dance to music ». Thesis, KTH, Skolan för teknikvetenskap (SCI), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-210824.
Texte intégralRésumé :
The purpose of this project is to simulate a dance formation for a group of quadcopters, moving in rhythm to music. Focus has lied on getting the dance to move in synchronization to the music. A description of the quadcopter and its dynamics is made. After simplifications was made, the dance was designed by controlling the velocities of the quadcopters. A song was chosen for the music and a beat detection analysis was made to calculate the number of beats per minute (BPM) of the song. The BPM was used when creating the dance formation. Velocity restrictions and the composition of the music was the governing factors of how the dance was designed. A feedback control was implemented into the dance formation. The simulation was performed in MATLAB and a video was made of the resulting dance. The idea is that the simulation can be tested on real quadcopters, additions to the project can be made for future work to implement this.
18
Dremel, Benedikt Harl Sebastian Kotulla Sebastian. « Konzeption und Realisierung einer Regelungs- & ; Steuerungssoftware für einen Quadcopter ». kostenfrei, 2008. http://www.opus.ub.uni-erlangen.de/opus/volltexte/2008/1211/.
Texte intégral
19
Basak, Hasan. « Robust switching recovery control of a quadcopter aerial vehicle model ». Thesis, University of Leicester, 2018. http://hdl.handle.net/2381/41081.
Texte intégralRésumé :
This thesis presents recovery control schemes that enable a quadcopter unmanned aerial vehicle (UAV) model to cope with a faulty actuation system. First, the computational aspects of the design of fixed-order H1 controllers are investigated along with the performance they provide for the quadcopter UAV. Double-loop control structures are developed to control the translational velocities of the UAV subject to two different intermittent actuation problems. Fixed-order H1 controllers are designed for the nominal and the faulty modes of operation. These closed-loop modes are modelled as a switched system for which stability is analysed using minimum dwell time theory. Average dwell times are also computed by exploiting multiple Lyapunov-like functions that account for the delays in the detection of a fault. The other key contribution of this thesis is the design of a switched recovery control scheme that does not require the explicit detection of the faults. Sufficient conditions are given in terms of linear matrix inequalities (LMIs) coupled with a scalar, and depend on modified Lyapunov-Metzler inequalities. The switched recovery scheme developed consists of jointly designed state feedback gains switched according to a min-switching strategy that preserves closed-loop stability and satisfy a prescribed H1 or H2 performance. Finally, the inherent fast switching issue of the min-switching strategy is treated at the expense of conservative reformulated LMIs conditions. Furthermore, the state-dependent switched control scheme is extended to output feedback case. Simulation results demonstrate the potential of the developed switching recovery control schemes to overcome various actuation faults.
20
Olejnik, Peter. « Design and Implementation of a Controller for a BeagleBone Quadcopter ». Thesis, Rose Hulman Institute of Technology, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10140288.
Texte intégralRésumé :
Unmanned aerial vehicles are quickly becoming a significant and permanent feature in today's world of aviation. Amongst the various types of UAVs, a popular type is the quadcopter. Also referred to as a quadrotor, this rotor craft's defining feature is that it has four propellers. While its use is common in the hobbyist community, this aircraft's use within industry is blooming.
Presented are the efforts to design and implement a controller for a BeagleBone based quadcopter. As part of this effort, characteristics of the quadcopter were experimentally determined. These characteristics consist of physical properties of the quadcopter, such as the moments of inertia, the motor performance characteristics, and variance within its sensors. A model was then created and implemented within a MATLAB environment to simulate the flight of the quadcopter. With a simulated environment created, a controller was designed to control the flight of the quadcopter and a Kalman Filter was implemented to filter a sensor input. These designs were then verified in the simulated environment.
21
Saenz, Acuña Johnny Henry. « Studies on nonlinear robust tracking control for a quadcopter system ». Master's thesis, Pontificia Universidad Católica del Perú, 2017. http://tesis.pucp.edu.pe/repositorio/handle/123456789/9644.
Texte intégralRésumé :
This thesis presents the modeling and control of a quadcopter vehicle and the application
of adaptive backstepping for attitude stabilization. This nonlinear technique has been
chosen because they can explicitly address the specific nonlinear dynamics of the plant.
The objectives are to derive, validate, simulate and implement this Backstepping controller
with a suitable quadcopter model. First a modeling process was conducted using
the Newton-Euler formalism together with Euler angles to parameterize the rotations.
The subsequently proposed approach consists on the nominal backstepping attitude
controller which regulates the pitch , roll and yaw rotations and the adaptive scheme
which estimates the external disturbances. Simulations showed satisfying performance
in attitude stabilization under uncertainties of up to 50% in inertia matrix and constant
external disturbances. Finally the controller is implemented in the real platform based
on Odroid single board computer and it showed an overall performance with room
to further improvements. Then this work proves that the proposed controller can be
successfully implemented.Tesis
22
Maji, Abhishek. « Learning model predictive control with application to quadcopter trajectory tracking ». Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-278211.
Texte intégralRésumé :
In thiswork, we develop a learning model predictive controller (LMPC) for energy-optimaltracking of periodic trajectories for a quadcopter. The main advantage of this controller isthat it is “reference-free”. Moreover, the controller is able to improve its performance overiterations by incorporating learning from the previous iterations. The proposed learningmodel predictive controller aims to learn the “best” energy-optimal trajectory over timeby learning a terminal constraint set and a terminal cost from the history data of previousiterations. We have shown howto recursively construct terminal constraint set and terminalcost as a convex hull and a convex piece-wise linear approximation of state and inputtrajectories of previous iterations, respectively. These steps allow us to formulate theonline planning problem for the controller as a convex optimization program, therebyavoiding the complex combinatorial optimization problems that alternative formulationsin the literature need to solve. The data-driven terminal constraint set and terminal costnot only ensure recursive feasibility and stability of LMPC but also guarantee convergenceto the neighbourhood of the optimal performance at steady state. Our LMPC formulationincludes linear time-varying system dynamics which is also learnt from stored state andinput trajectories of previous iterations.To show the performance of LMPC, a quadcopter trajectory learning problem in thevertical plane is simulated in MATLAB/SIMULINK. This particular trajectory learningproblem involves non-convex state constraints, which makes the resulting optimal controlproblem difficult to solve. A tangent cut method is implemented to approximate the nonconvexconstraints by convex ones, which allows the optimal control problem to be solvedby efficient convex optimization solvers. Simulation results illustrate the effectiveness ofthe proposed control strategy.Vi utvecklar en lärande modell-prediktiv regulator för energi-optimalt följande av periodiskatrajektorier för en quadkopter. Den huvudsakliga fördelen med denna regulator äratt den är “referensfri”. Dessutom så klarar regulatorn att förbättra sin prestanda medtiden genom att inkorporera inlärning från föregående iterationer. Syftet med den föreslagnalärande modell-prediktiva regulatorn är att över en viss tid lära sig den “bästa”energioptimala trajektorian genom att lära sig den terminala bivillkorsmängden och denterminala kostnaden från historiskt data från tidigare iterationer. Vi har visat hur man kanrekursivt konstruera terminala bivillkorsmängder och terminala kostnader som konvexahöljen respektive konvexa styckvis linjära approximationer av tillstånds- och insignalstrajektoriernafrån tidigare iterationer. Dessa steg gör det möjligt att formulera onlineplaneringsproblemet för regulatorn som ett konvext optimeringsproblem och på så visundvika de komplexa kombinatoriska optimeringsproblemen som ofta krävs för alternativametoder som kan hittas andra publikationer. Den datadrivna terminala bivillkorsmängdenoch terminala kostnaden garanterar inte bara rekursiv tillåtenhet och stabilitet av LMPC,utan även konvergens till en omgivning av den optimala prestandan efter att ha uppnåttjämvikt. Vår LMPC-formulering innehåller linjär och tidsvarierande systemdynamik, somockså lärs från lagrade tillstånds- och insignalstrajektorier från tidigare iterationer.För att visa prestandan av LMPC så simuleras iMATLAB/SIMULINK ett problem ominlärning av quadkopter-trajektorier i det vertikala planet. Just det trajektorieinlärningsproblemetinnehåller icke-konvexa tillståndsbivillkor, vilket gör det resulterande optimeringsproblemetsvårt att lösa. En tangentsnitt-metod är implementerad för att approximera deicke-konvexa bivillkoren med hjälp av konvexa bivillkor, vilket möjliggör lösningen avdet optimala regleringsproblemet med effektiva lösare för konvexa optimeringsproblem.Simuleringsresultaten visar effektivitet av den föreslagna regleringsmetoden.
23
Kumar, Rumit. « Position, Attitude, and Fault-Tolerant Control of Tilting-Rotor Quadcopter ». University of Cincinnati / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=ucin149156174235128.
Texte intégral
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Wu, Xiaonan. « Design and Development of Variable Pitch Quadcopter for Long Endurance Flight ». Thesis, Oklahoma State University, 2019. http://pqdtopen.proquest.com/#viewpdf?dispub=10813154.
Texte intégralRésumé :
The variable pitch quadrotor is not a new concept but has been largely ignored in small unmanned aircraft, unlike the fixed pitch quadcopter which is controlled only by changing the RPM of the motors and only has about 30 minutes of total flight time. The variable pitch quadrotor can be controlled either by the change of the motor RPM or rotor blade pitch angle or by the combination of both. This gives the variable pitch quadrotor potential advantages in payload, maneuverability and long endurance flight. This research is focused on the design methodology for a variable pitch quadrotor using a single motor with potential applications for a long endurance flight. This variable pitch quadcopter uses a single power plant to power all four rotors through a power transmission system. All four rotors have the same rpm but vary the blade pitch angle to control its attitude in the air. A proof of concept variable pitch quadcopter is developed for testing the drivetrain mechanism on the vehicle and evaluating performance of the vehicle through numbers of testing.
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Gupta, Gaurang. « Transition of Quadcopter Box-wing UAV between Cruise and VTOL Modes ». University of Cincinnati / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin153538165533359.
Texte intégral
26
Kantsaporidis, Ioannis, et Sadeq Al-Attar. « Dynamics and electronics of a manually chargeable quadcopter for steady-state flight ». Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-37208.
Texte intégralRésumé :
The objective of this thesis is to investigate how the onboard battery of a quadcopter can be charged through manual rotation of its motors, while understanding the resulting aerodynamical forces acting on the rotors during hover, as well as considering the changes in thrust capabilities when the electronic and structural design are altered. A theoretical approach using the momentum theory will present a general understanding of rotor performance whilst describing the correlation between rotor parameters, thrust and mechanical power. Furthermore, the idea of using the motors as generators are put under study to investigate their electrical output and utilize them to recharge the battery. This is done using the counter electromotive force equation, and a sequence of other equations that will present numerical data of actual manual work converted into electrical power. Resulting in the required time to manually recharge the quadcopter subsequently sustaining hover flight for three minutes. It is concluded in this report that manual recharging of the battery using the motors as generators is possible, as well as maintaining its flying ability in case of added weight. Although not deemed practical in commercial use, it is a new methodology with the intention to develop a sustainable quadcopter further expanding its practical applications in both aviation industry and human aid.
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Sridhar, Siddharth. « Non-Linear Control of a Tilt-Rotor Quadcopter using Sliding Mode Technique ». University of Cincinnati / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1592170442729443.
Texte intégral
28
Reizenstein, Axel. « Position and Trajectory Control of a Quadcopter Using PID and LQ Controllers ». Thesis, Linköpings universitet, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-139498.
Texte intégralRésumé :
This thesis describes the work done to implement and develop position and trajectory control of a quadcopter. The quadcopter was originally equipped with sensors and software to estimate and control the quadcopter's orientation, but did not estimate the current position. A GPS module, GPS antenna and a LIDAR have been added to measure the position in three dimensions. Filters have been implemented and developed to estimate the position, velocity and acceleration. Four controllers have been designed that use these estimates: one PID controller and one LQ controller for vertical movement, and a position controller and a trajectory controller for horizontal movement. The position controller maintains a constant position, while the trajectory controller maintains a constant velocity while travelling along a straight line. These position and trajectory controllers calculate the reference angles required to direct the thrust necessary to control the quadcopter's movement. Additionally, an algorithm has been developed to decrease overshoot by predicting future trajectories. These controllers have proven to be successful at controlling the quadcopter's position in all three dimensions, both in practice during outdoor flight and in simulations.
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FUENTEVILLA, BLANCO EDUARDO. « Control strategies evaluation for stabilizing a quadcopter docking on a side wall ». Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263097.
Texte intégralRésumé :
This thesis contemplates the stabilization of a quadcopter in physical contact with a side wall via a mechanical arm. The drone is accelerated aiming to apply a greater force against the wall. Consequently, the drone adopts a tilted position that must be controlled. Three control strategies; Proportional-integral-derivative (PID) control, sliding mode control (SMC) and model predictive control (MPC) together with two different arm designs are iterated to achieve the fastest and stable approach. Firstly, a derivation of the drone dynamics for each arm is achieved. Secondly, the different control strategies are implemented based on the derived dynamics. The obtained results show that the drone is capable of docking at a certain speed, remaining stable while exerting a force against the wall.Denna avhandling överväger stabilisering av en quadcopter i fysisk kontakt med en sidovägg genom en mekanisk arm. Dronen accelereras med sikte på att tillämpa en större kraft mot väggen. Följaktligen adopterar dronen ett lutat läge som måste styras. Tre kontrollstrategier; Proportional-integral-derivat (PID) kontroll, glidstyrningskontroll (SMC) och modell prediktiv kontroll (MPC) tillsammans med två olika arm design är iterated till uppnå det snabbaste och stabila tillvägagångssättet. För det första en avledning av drondynamiken för varje arm är uppnådd. För det andra implementeras de olika kontrollstrategierna baserat på det härledda dynamik. De erhållna resultaten visar att dronen är kapabel att docka i en viss hastighet, Återstående stabila samtidigt som man utövar en kraft mot väggen.
30
Tosteberg, Joakim, et Thomas Axelsson. « Development of a Wireless Video Transfer System for Remote Control of a Lightweight UAV ». Thesis, Linköpings universitet, Datorteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78491.
Texte intégralRésumé :
A team of developers from Epsilon AB has developed a lightweight remote controlledquadcopter named Crazyflie. The team wants to allow a pilot to navigate thequadcopter using video from an on-board camera as the only guidance. The masterthesis evaluates the feasibility of mounting a camera module on the quadcopter andstreaming images from the camera to a computer, using the existing quadcopterradio link. Using theoretical calculations and measurements, a set of requirementsthat must be fulfilled for such a system are identified. Using the requirementsas a basis, various camera products are investigated and the findings presented.A design to fulfill the requirements, using the found products, is proposed. Theproposed design is then implemented and evaluated. It is found that the Crazyflie system has the resources necessary to transferan image stream with the quality required for navigation. Furthermore, theimplementation is found to provide the required functionality. From the evaluationseveral key factors of the design that can be changed to further improve theperformance of an implementation are identified. Ideas for future work andimprovements are proposed and possible alternative approaches are presented.
31
Ortiz, Cory J. « An Experimental Comparison of Student Motivation Between Two Computational Thinking-Based STEM Activities : Vex-Based Automation and Robotics and a Quadcopter Activity ». DigitalCommons@USU, 2018. https://digitalcommons.usu.edu/etd/7193.
Texte intégralRésumé :
The purpose of this study was to compare student motivation between two junior high level computational thinking based STEM curricular activities. These two activities were a newly developed quadcopter based curriculum and a VEX based curricular activity developed for Project Lead the Way’s Gateway to Technology – Automation and Robotics course. Student motivation was assessed using an assessment called My Class Activities which broke motivation into four constructs: interest, challenge, choice, and enjoyment.
This study assessed students in three schools in a northern Utah school district. Students were assessed after receiving each curriculum. Assessment responses were then coded and analyzed. The results of this study suggested that though the junior high VEX curriculum was more challenging and offered students more choice than the quadcopter curriculum, the teacher delivering the curriculum had more to do with student motivation.
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Bananga, L. A. « Information technology of autonomous drone control system design ». Master's thesis, Sumy State University, 2021. https://essuir.sumdu.edu.ua/handle/123456789/86926.
Texte intégral
33
Mårtensson, Anders. « Flying Penguins : Building and Evaluating the Viability of a Linux-based Drone ». Thesis, Blekinge Tekniska Högskola, Institutionen för datalogi och datorsystemteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-12860.
Texte intégralRésumé :
Traditional quadcopter flight controllers use microcontrollers to run the code that keeps the drone in the air, and when more processing power or versatility is needed the same microcontrollers are used in tandem with Linux-based single-board computers. It would be cheaper and reduce complexity if the single-board computer could entirely replace the microcontrollers. We investigate whether it is possible to run a quadcopter using a Linux single-board computer as the flight controller, with no microcontrollers and otherwise the same hardware as used in hobby-grade quadcopters. We attempt to find out what the potential issues are and how to get around or mitigate them. To test it, a quadcopter will be built from hobby parts and the flight control software to be run on the flight controller will be developed. More specifically, the pulse-width modulation signals to the motor speed controllers are checked for stability and various methods of acquiring the radio control input in the form of pulse-width modulation signals are evaluated. The speed at which the flight control software is running is measured under different circumstances—with and without load and with and without mitigative measures active. We conclude that it was not possible to run a quadcopter using only the chosen Linux SBC as flight controller. The reason was because we could not accurately measure the radio control input, although there may be other additional issues. We did find that CPU time did not seem to be an issue even when an artificial stress was placed on the system, despite not being a real time system, and even less of an issue when the mitigation techniques discussed were applied.
34
Carlton, Zachary M. « System Identification and Verification of Rotorcraft UAVs ». University of Cincinnati / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1491899295046484.
Texte intégral
35
Goldin, Jeremy C. « Perching Using a Quadrotor with Onboard Sensing ». DigitalCommons@USU, 2011. https://digitalcommons.usu.edu/etd/927.
Texte intégralRésumé :
This thesis presents an implementation of autonomous indoor perching using only onboard sensors on a low-cost, custom-built quadrotor. The perching aggressive maneuver is representative of a class of control problems for aerobatics that requires an agile and robust control system for maneuvering accurately at high speeds. Such research extends the typical functionality of micro air vehicles (MAV) from low speed and stationary observation to dynamic aerobatic transitions for broader operational capabilities including confined landings and evasive maneuvering. To achieve this, three major challenges are overcome: precise and real-time positioning, sensing of the perch and path to the perch, and control methods for robust and accurate tracking at high speeds. Navigation in unstructured, global positioning system (GPS)-denied environments is achieved using a visual Simultaneous Localization and Mapping (SLAM) algorithm that relies on an onboard monocular camera. A secondary camera, capable of detecting infrared light sources, is used to locate the pathway for the maneuver and the perch, simulating sensing of the actual perch, for perching without prior knowledge of the location of the perch. The full physical system architecture is covered in detail, indicating the components and integration necessary to obtain effective aggressive control of an inexpensive quadrotor. The difficulties of attitude stabilization on noisy and lower-quality sensors are successfully addressed so that the air vehicle can be treated as a simple second-order system for the purposes of navigation and response to dynamic maneuvering commands. The system utilizes nested controllers for attitude stabilization, vision-based navigation, and perching guidance, with the navigation controller implemented using novel nonlinear saturation control within a Proportional-Integral-Derivative (PID) structure. The quadrotor is therefore able to autonomously sense the perch, reach initial high speeds for obtaining rapid deceleration from aerodynamic effects, dynamically transition to a high angle of attack post-stall configuration, and make a low-speed accurate landing on an inclined surface, using only onboard sensors.
36
Pekarovič, Ján. « Realizace vrtulníku se čtyřmi rotory ». Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2014. http://www.nusl.cz/ntk/nusl-220957.
Texte intégralRésumé :
This thesis deals with the design of a helicopter with four rotors known as quadcopter. It describes the principles of operation and existing modifications. Part of the work is the selection of a suitable frame, remote control set, engines and propellers, battery, sensors for stabilization and detection of obstacles and microcontroller for their operation. The paper presents the concept of the specific copter design, design and simulation of printed circuit boards to their self-production, activation and testing. The final part of the thesis includes an economic assessment of the project and its comparison with competitors.
37
Medla, Eduard. « Model autonomní kvadroptéry ». Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-377872.
Texte intégral
38
Vedder, Benjamin. « Testing Safety-Critical Systems using Fault Injection and Property-Based Testing ». Licentiate thesis, Högskolan i Halmstad, Centrum för forskning om inbyggda system (CERES), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-28173.
Texte intégralRésumé :
Testing software-intensive systems can be challenging, especially when safety requirements are involved. Property-Based Testing (PBT) is a software testing technique where properties about software are specified and thousands of test cases with a wide range of inputs are automatically generated based on these properties. PBT does not formally prove that the software fulfils its specification, but it is an efficient way to identify deviations from the specification. Safety-critical systems that must be able to deal with faults, without causing damage or injuries, are often tested using Fault Injection (FI) at several abstraction levels. The purpose of FI is to inject faults into a system in order to exercise and evaluate fault handling mechanisms. The aim of this thesis is to investigate how knowledge and techniques from the areas of FI and PBT can be used together to test functional and safety requirements simultaneously. We have developed a FI tool named FaultCheck that enables PBT tools to use common FI-techniques directly on source code. In order to evaluate and demonstrate our approach, we have applied our tool FaultCheck together with the commercially available PBT tool QuickCheck on a simple and on a complex system. The simple system is the AUTOSAR End-to-End (E2E) library and the complex system is a quadcopter simulator that we developed ourselves. The quadcopter simulator is based on a hardware quadcopter platform that we also developed, and the fault models that we inject into the simulator using FaultCheck are derived from the hardware quadcopter platform. We were able to efficiently apply FaultCheck together with QuickCheck on both the E2E library and the quadcopter simulator, which gives us confidence that FI together with PBT can be used to test and evaluate a wide range of simple and complex safety-critical software.This research has been funded through the PROWESS EU project (Grant agreement no: 317820), the KARYON EU project (Grant agreement no: 288195) and through EISIGS (grants from the Knowledge Foundation).
PROWESS
KARYON
39
Danis, Reed. « Investigating Forward Flight Multirotor Wind Tunnel Testing in a 3-by 4-foot Wind Tunnel ». DigitalCommons@CalPoly, 2018. https://digitalcommons.calpoly.edu/theses/1909.
Texte intégralRésumé :
Investigation of complex multirotor aerodynamic phenomena via wind tunnel experimentation is becoming extremely important with the rapid progress in advanced distributed propulsion VTOL concepts. Much of this experimentation is being performed in large, highly advanced tunnels. However, the proliferation of this class of vehicles extends to small aircraft used by small businesses, universities, and hobbyists without ready access to this level of test facility. Therefore, there is a need to investigate whether multirotor vehicles can be adequately tested in smaller wind tunnel facilities. A test rig for a 2.82-pound quadcopter was developed to perform powered testing in the Cal Poly Aerospace Department’s Low Speed Wind Tunnel, equipped with a 3-foot tall by 4-foot wide test section. The results were compared to data from similar tests performed in the U.S. Army 7-by 10-ft Wind Tunnel at NASA Ames. The two data sets did not show close agreement in absolute terms but demonstrated similar trends. Due to measurement uncertainties, the contribution of wind tunnel interference effects to this discrepancy in measurements was not able to be properly quantified, but is likely a major contributor. Flow visualization results demonstrated that tunnel interference effects can likely be minimized by testing at high tunnel speeds with the vehicle pitched 10-degrees or more downward. Suggestions towards avoiding the pitfalls inherent to multirotor wind tunnel testing are provided. Additionally, a modified form of the conventional lift-to-drag ratio is presented as a metric of electric multirotor aerodynamic efficiency.
40
Martins, Rui Miguel Freitas. « Controlo de quadcopter ». Master's thesis, 2019. http://hdl.handle.net/10400.13/2509.
Texte intégralRésumé :
O controlo de voo dos quadcopters tem grande interesse devido ao aumento de número de aplicações que recorrem a este tipo de aeronaves. As vantagens que o recurso a 4 conjuntos de motor e hélice como meio de propulsão apresenta em relação a outro tipo de drones, são a capacidade de se manter imóvel no ar e a capacidade de descolar e aterrar na vertical. Ao mesmo tempo que um quadcopter tem estas vantagens, o sistema não linear tem 6 graus de liberdade, com apenas 4 atuadores o que coloca assim desafios no controlo de orientação e posição. O objetivo principal deste projeto consistiu em estudar a dinâmica do quadcopter, e aplicar diversas técnicas de controlo que permitiram controlar a orientação e altura do drone, tanto em simulação como a nível experimental. As técnicas de controlo foram a técnica PID, a técnica Fuzzy-PID e a técnica de backstepping. Das três técnicas utilizadas a que teve o desempenho mais robusto foi a técnica de backstepping e a que exigiu menos processamento computacional foi a técnica PID. A nível experimental efetuou-se a montagem do quadcopter e implementou-se um controlador de voo que recorreu a controladores PID para controlar a orientação, com resultados que se comportaram como na simulação.The flight control of quadcopters is of great interest due to the increase in the number of applications that use this type of aircraft. The advantages of the 4 motor and propeller sets as a means of propulsion, relative to other type of drones, are the ability to hover and the ability to take off and land vertically. While it has these advantages, the non-linear system also has 6 degrees of freedom with only 4 actuators, which thus poses challenges in the control of orientation and position. This project studied the dynamics of the quadcopter and applied several control techniques that allow controlling the orientation and height of the drone, both in simulation and in practice. The control techniques discussed in the simulation were the PID technique, the Fuzzy-PID technique and the backstepping technique. Of the three techniques used, the one with the most robust performance was the backstepping technique, and the one that required less digital processing effort was the PID technique. In practice, the quadcopter was assembled, and a flight controller was implemented that used PID controllers to control the orientation. We were able to implement orientation control, with results similar to the simulations.
41
CHEN, CI-DONG, et 陳啟棟. « Low Cost Sea-Quadcopter ». Thesis, 2017. http://ndltd.ncl.edu.tw/handle/fz65mp.
Texte intégralRésumé :
碩士高苑科技大學
電子工程研究所
105
This thesis mainly discuss on the design, making and flight test of the low cost seaquadcopter. For the purpose to obtain sufficient design parameters . there are some drones, float tanks, waterproof techniques been tested. After the preliminary study, we had made the prototype sea-quadcopter with appropriate power, structure, waterproof process and mechatronic design were made completely in this thesis . The prototype sea-quadcopter has been tested to fly in the rain, to fly the waypoint course and to takeoff and landing on the water surface. This thesis also satisfies the low cost solution for the design and manufacture aspect.
42
Bi-Sheng et 丁必陞. « Quadcopter Flow Field Research ». Thesis, 2015. http://ndltd.ncl.edu.tw/handle/32124121284991386030.
Texte intégralRésumé :
碩士國立臺灣大學
機械工程學研究所
103
This paper aims to establish a complete quadcopter flying flow model and observe the flow field of lift variation, the flight flow model uses quadcopter hovering flight as the basic infrastructure, added with the standard external flow field to simulate the flow field when hovering. First, according to the literature review, the research focus on control and efficiency, and has not been studied for its flight flow field. Therefore, in order to observe easily the changes in the lift of quadcopter rotor rotation, the research use commercial product DJI F450 as the main object and each rotor blade set the same location in the analysis software-Autodesk Simulation CFD. This simulation software uses transient analysis to analyze the whole flow field and adjust the wind speed and direction, in order to analyze the impact of the quadcopter. The results of this study show when hovering flight, the horizontal wind and -30 degrees wind direction (the -30 degrees means the angle between the wind blowing from top to bottom) causes the lift differential (Dissymmetry of lift) most significant.
43
Liu, Hao-Wei, et 劉浩瑋. « Design and Application Quadcopter ». Thesis, 2015. http://ndltd.ncl.edu.tw/handle/68416549396656927209.
Texte intégralRésumé :
碩士正修科技大學
資訊工程研究所
103
In recent years due to technological advances, unmanned aircraft only appears on many new types of military technology, and even the development of its technology to the private sector, many related applications spontaneously, in the military can be used for battlefield management, target search and positioning, communications relay ...... and many other applications, unmanned aircraft in addition to reducing casualties soldiers, but also conducive to analysis of the battlefield situation, so that the general forces may also be of immediate advantage of the air. And after its technology into the private sector, there are many related applications, such as: agriculture, fisheries, animal husbandry, data collection and monitoring of space management, companies, factories, schools, home security Vian, meteorological observation and data collection, traffic regulation, land and resources observational studies, such as disaster relief ...... the main research of multi-rotor aircraft avionics systems, which use electron accelerator, electronic gyroscopes and magnetometers ... and other micro-electronic sensors, computer central processing system with body posture, and using a variety of algorithms to achieve the body stable.
44
SU, Wen-Cheng, et 蘇文正. « Development of a Tilting Quadcopter ». Thesis, 2016. http://ndltd.ncl.edu.tw/handle/78306451866258190194.
Texte intégralRésumé :
碩士國立臺灣科技大學
機械工程系
104
The objective of this study was to design a quadcopter whose rotary axes can be tilted. The feature allows the aircraft to move swiftly, or to maintain position stably in the air. The controller used in the quadcopter is the embedded system myRIO, which includes ample I/O ports and supports various communication protocols. Moreover, we can use LabVIEW, a graphical programming language, to develop the flight control program with the help of many modules of LabVIEW. The results demonstrated stable and balance control of the quadcopter simulation model by using PID controller. The simulation was successfully verified in terms of tracing specific target and keeping its balance on a testing platform. However, the self-control in the air and the vibration disturbance still need to be improved, otherwise the quadcopter cannot achieve a good balance control in the air.
45
You-ZhanLin et 林猷展. « Offboard Mode Control of Quadcopter ». Thesis, 2018. http://ndltd.ncl.edu.tw/handle/35xe43.
Texte intégralRésumé :
碩士國立成功大學
工程科學系
106
This thesis develops a 4-axis unmanned aerial vehicles (UAVs) system. It allows users to control quadcopter remotely and manually without learning how to use transmitter. The main structure of quadcopter is ZD550 and we retrofit a new battery holder for attaching Raspberry Pi, FPV camera and FPV transmitter to vehicle. The quadcopter is operated by the Raspberry Pi which is remotely controlled by the computer via Wi-Fi. As the flight controller switched to the offboard mode, the quadcopter will be completely controlled by the program, allowing the user to remotely control the quadrotor by the computer. The program part is completed under the ROS system architecture, and its MAVROS package provides a driver for the communication protocol MAVLink that can communicate with the flight control board. After the quadcopter takes off, the user can manually input the parameters to control the position of the quadcopter. When the input height is 0, the quadcopter will land and exit the program.
46
Hsu, Din-Jim, et 徐鼎峻. « Autonomous Quadcopter for Hull Inspection ». Thesis, 2018. http://ndltd.ncl.edu.tw/handle/8374sm.
Texte intégralRésumé :
碩士國立臺灣海洋大學
通訊與導航工程學系
106
The purpose of this study is to use a quadcopter to detect the hull of a ship and improve the detection mode of the quadcopter. In terms of application, we let the quadcopter fly automatically, if there is a sudden situation during the process, manual control can be used as an aid to avoid losing control. With the image transmission system which can immediately return the scene seeing by the quadcopter, the status information of the quadcopter can be displayed on the screen. A voice broadcast chip is used to report the current status of the quadcopter so that the inspectors do not need to pay attention to the quadcopter and only need to listen to the horn. The broadcast has made the task more convenient and humane. The distance from the hull can be obtained by the RPlidar sensor as a function of distance measurement. For autonomous obstacle avoidance, fuzzy rules are applied to control the direction of flight of the quadcopter. The Pixy (CMUcam5) camera is used as the image tracking device and is used to identify whether the hull is rusty or not. The above components are integrated in a quadcopter, and the signals are transmitted to the Arduino Mega 2560 control board. In this study, different sensing elements are used to make the quadcopter have hull investigation function.
47
Yuan, Hsush-Jen, et 薛任遠. « Development of Communication Systems via Quadcopter ». Thesis, 2016. http://ndltd.ncl.edu.tw/handle/51209548890512848288.
Texte intégralRésumé :
碩士義守大學
機械與自動化工程學系
104
The main purpose of this paper, the design and development of multi-axis testing of aircraft communication systems, through to wirelessly transmit video information can be manipulated by computer-controlled four-axis aircraft platform and foreign direct mobile apparatus for monitoring the implementation of the work, in the face of a variety of tools hazardous work, war, disaster relief, can reduce field casualties, but also as a general cargo logistics or use, to increase the area to monitor and control the appliance to move smoothly perform various tasks. In this study, we fitted to a relay Communications Quadcopter four-wheeled vehicles and the development of camera images do return, use the WI-FI associated control equipment, the moving distance of the aircraft flying through the axis height and four-wheel electric vehicles, via Arduino controller and UART through the Internet, a message on the web by the UART to a computer issued a directive Arduino controller, the vehicle control, with WI-FI mobile carrier for transmitting and receiving stations broadcast station data, test their return power (dBm), signal strength and image data such as reaction time, to achieve master their environment and work items for the purpose of communication with the relay contact Quadcopter relations and real-time monitoring mobile operator at the distal end and the distal end of the vehicle on the vehicle via remote control images of the camera to control and execute the corresponding action to complete the required tasks.
48
Lin, Tse-Wei, et 林澤偉. « Detection of Trapped People using Quadcopter ». Thesis, 2015. http://ndltd.ncl.edu.tw/handle/90217933847490337549.
Texte intégralRésumé :
碩士國立臺灣科技大學
電子工程系
103
Nature disasters becomes more frequent and more serious, and they usually lead to great damage on buildings and human beings. The most common condition is that people are trapped because of collapsed buildings. The difficulty for saving victims is to search trapped victims in wide area within so-called golden 72 hours. To deal with above difficulty, the paper proposed a system which utilizes app to make victim’s cellphone send Wi-Fi signal and construct a quadcopter equipped with wireless signal detection module to search victims. With the system, we can increase saving efficiency and reduce the cost of human resources on searching victims.
49
Nascimento, Ricardo Miguel Gradim. « QuadAALper - The Ambient Assisted Living Quadcopter ». Master's thesis, 2015. https://repositorio-aberto.up.pt/handle/10216/78678.
Texte intégral
50
TSAI, HU-CHUNG, et 蔡鵠仲. « Research on Gesture Recognition Controlled Quadcopter ». Thesis, 2016. http://ndltd.ncl.edu.tw/handle/24984313688431062793.
Texte intégralRésumé :
碩士國立高雄海洋科技大學
輪機工程研究所
104
In this thesis, control methods analysis and design for quadcopter are considered. A human–machine interface of gesture recognition is developed to control the quadcopter. The main system architecture includes the quadcopter, the synchronous attitude simulation system, the proportional-integral-derivative (PID) controller, and a human-machine interface of gesture recognition. The quadcopter mechanism is designed in size 330mm*330mm with X-shaped configuration of the motor structure. Synchronous attitude simulation system is mainly used to obtain the quadcopter’s flight attitude via the corrected parameter values of acceleration and gyro sensors. The control of motor speed and achievement of stable quadcopter are based on the flight attitude and PID controller design. Human-machine interface of gesture recognition is sensing the position of the hand gesture. The interactive graphical interface is used to detect the hand position and status and control the flight of quadcopter. Finally, some experimental results validate the control approach of quadcopter on the proposed gesture recognition.