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Control of a highly maneuverable multi-medium vehicle employing multi-plane propulsion

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TitleInfo
Title
Control of a highly maneuverable multi-medium vehicle employing multi-plane propulsion
Name (type = personal)
NamePart (type = family)
Maia
NamePart (type = given)
Marco M.
NamePart (type = date)
1990-
DisplayForm
Marco M. Maia
Role
RoleTerm (authority = RULIB)
author
Name (type = personal)
NamePart (type = family)
Diez-Garias
NamePart (type = given)
Francisco J
DisplayForm
Francisco J Diez-Garias
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
chair
Name (type = personal)
NamePart (type = family)
Baruh
NamePart (type = given)
Haim
DisplayForm
Haim Baruh
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Bilgen
NamePart (type = given)
Onur
DisplayForm
Onur Bilgen
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Villegas
NamePart (type = given)
Arturo
DisplayForm
Arturo Villegas
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
outside member
Name (type = corporate)
NamePart
Rutgers University
Role
RoleTerm (authority = RULIB)
degree grantor
Name (type = corporate)
NamePart
School of Graduate Studies
Role
RoleTerm (authority = RULIB)
school
TypeOfResource
Text
Genre (authority = marcgt)
theses
OriginInfo
DateCreated (qualifier = exact)
2018
DateOther (qualifier = exact); (type = degree)
2018-01
CopyrightDate (encoding = w3cdtf); (qualifier = exact)
2018
Place
PlaceTerm (type = code)
xx
Language
LanguageTerm (authority = ISO639-2b); (type = code)
eng
Abstract (type = abstract)
Multi-medium vehicles, which are capable of operating in multiple fluid mediums such as air and water, are a new paradigm in unmanned systems and the multirotor platform is an exceptional candidate configuration. Vehicles that can swim and fly are few and those that do exist are not maneuverable enough to accomplish complex missions. A multi-plane propulsion system is introduced that ensures seamless transition and sets forth some basic requirements and considerations on designing multi-medium multirotor vehicles which touches on hardware level components as well as firmware for the autopilot and the motor drivers. Five prototypes have been developed and these fully developed platforms adopted several control schemes that when aggregated, properly handle the continuous-discrete behavior that a multi-medium vehicle entails. The propulsion system was characterized and used to the determine the approximate drag coefficient at several pitch angles and speeds, which helped validate the pseudo-spherical drag model as a reasonable candidate for the overall dynamic model, especially at low speeds. From a controls standpoint, a standard multirotor controller employing a hierarchical PID controller was formalized. Next, this hierarchical controller was incorporated into a discrete-continuous system through a hybrid controller. Then, a gain scheduling algorithm was added by exploiting the discrete variables established by the hybrid system. Finally, a singularity-free quaternion representation was used such that a hierarchical hybrid quaternion controller with gain scheduling renders the vehicle highly maneuverable, agile and adept at each medium of operation. Several numerical simulations and experiments were conducted to assess vehicle performance with regard to maneuverability and convergence to a desired state.
Subject (authority = RUETD)
Topic
Mechanical and Aerospace Engineering
Subject (authority = ETD-LCSH)
Topic
Propulsion systems
RelatedItem (type = host)
TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier (type = RULIB)
ETD
Identifier
ETD_8651
PhysicalDescription
Form (authority = gmd)
electronic resource
InternetMediaType
application/pdf
InternetMediaType
text/xml
Extent
1 online resource (xv, 105 p. : ill.)
Note (type = degree)
Ph.D.
Note (type = bibliography)
Includes bibliographical references
Note (type = statement of responsibility)
by Marco M. Maia
RelatedItem (type = host)
TitleInfo
Title
School of Graduate Studies Electronic Theses and Dissertations
Identifier (type = local)
rucore10001600001
Location
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NjNbRU
Identifier (type = doi)
doi:10.7282/T3QZ2F5N
Genre (authority = ExL-Esploro)
ETD doctoral
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Rights

RightsDeclaration (ID = rulibRdec0006)
The author owns the copyright to this work.
RightsHolder (type = personal)
Name
FamilyName
Maia
GivenName
Marco
MiddleName
M.
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2018-01-10 16:25:36
AssociatedEntity
Name
Marco Maia
Role
Copyright holder
Affiliation
Rutgers University. School of Graduate Studies
AssociatedObject
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
RightsEvent
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2018-01-31
DateTime (encoding = w3cdtf); (qualifier = exact); (point = end)
2020-01-31
Type
Embargo
Detail
Access to this PDF has been restricted at the author's request. It will be publicly available after January 31st, 2020.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
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Technical

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DateCreated (point = end); (encoding = w3cdtf); (qualifier = exact)
2018-01-11T12:38:55
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