Browsing OSU Theses by Author "Bai, He"
Now showing items 21-28 of 28
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Observability Properties of Relative State Estimation Between Two Vehicles in a GPS-Denied Environment
Awan, Asad Nisar (2017-05-12)One of the practical problems encountered in the coordination and cooperation of multi-UAS systems is to obtain the position and the orientation information of the neighboring vehicles while working in a GPS-denied ... -
Quadcopter Trajectory Prediction and Wind Estimation Using Machine Learning
Allison, Sam (2019-07)Small unmanned aerial systems are heavily impacted by wind disturbances. Wind causes deviations from desired trajectories, potentially leading to crashes. In this thesis, we consider two inherently related problems: ... -
Recursive Newton-Euler dynamics and sensitivity analysis for dynamic motion planning
Barman, Shuvrodeb (2020-12)In this study, sensitivity equations are derived for recursive Newton-Euler dynamics using Denavit-Hartenberg (DH) moving coordinates. The dynamics and sensitivity equations depend on the 3x3 DH rotation matrices. Compared ... -
Safety-aware model-based reinforcement learning using barrier transformation
Mahmud, S. M. Nahid (2021-05)The ability to learn and execute optimal control policies safely is critical to the realization of complex autonomy, especially where task restarts are not available and/or when the systems are safety-critical. Safety ... -
Sensor fusion to improve state estimate accuracy using multiple inertial measurement units and its application to wind estimation
Patel, Ujjval Nirmalkumar (2021-12)On-board state estimation is a persistent challenge to fielding unmanned aerial systems (UAS), particularly when global positioning system (GPS) measurements are not available. The dominant estimation tool remains the ... -
This blows?: Evaluation of additive manufactured five hole probes for unmanned system based wind measurements
Hickman, Kyle (2021-07)A deep understanding of the wind in the atmosphere is becoming valuable as unmanned aerial systems (UAS) are integrated into the National Airspace System. Unmanned vehicles are also becoming a key tool in weather observation ... -
Trajectory Optimization of Meteorological Sampling
Azartash-Namin, Kaevon Alexander (2019-07)Swarming involves controlling multiple unmanned aerial systems or UAS in formation through the use of controls and algorithms. Swarm systems may be distributed and not rely on a central controller. As a result, this gives ... -
Use of Particle Swarm Optimization Algorithm to Reduce Drilling Costs by Finding Optimal Operational Parameters
Self, Ryan (2016-07-01)Oil and gas companies have played a major role in the energy sector, and constantly try to develop technology to maximize their overall revenue. One of the more substantial feats was the developed equipment that allowed ...