System architecture of small autonomous UAVs: requirements and design approaches in control, communication, and data processing
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Saarbrücken
VDM Verlag Dr. Müller
2008
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| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Hergestellt on demand |
| Beschreibung: | 233 S. Ill., graph. Darst. 24 cm |
| ISBN: | 9783836461139 |
Internformat
MARC
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| 245 | 1 | 0 | |a System architecture of small autonomous UAVs |b requirements and design approaches in control, communication, and data processing |c Marek Musial |
| 264 | 1 | |a Saarbrücken |b VDM Verlag Dr. Müller |c 2008 | |
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Datensatz im Suchindex
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|---|---|
| adam_text | CONTENTS ABSTRACT 3 ACKNOWLEDGEMENTS 5 CONTENTS 7 LISTOFFIGURES 11
LISTOFTABLES 15 1 INTRODUCTION 19 1.1 APPLICATIONS 21 1.1.1 TASKTYPE 21
1.1.2 SENSORTYPE 22 1.1.3 APPLICATION CLASSES 22 1.1.4 SUMMARY 28 1.2
RESEARCH CENTERS 28 1.2.1 UNIVERSITY OF CALIFORNIA, BERKELEY 28 1.2.2
LAAS/CNRS, TOULOUSE 29 1.2.3 DLR, BRAUNSCHWEIG 29 1.2.4 UNIVERSITY OF
TEXAS, ARLINGTON 29 1.2.5 GEORGIA INSTITUTE OF TECHNOLOGY 29 1.2.6 ETH
ZUERICH 29 1.2.7 TU BRAUNSCHWEIG . 30 1.2.8 TECHNISCHE UNIVERSITAET BERLIN
30 1.3 OUTLINE OFVEHICLE CONTROLS 30 1.3.1 AIRSHIPS 30 GESCANNT DURCH
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/987891367 DIGITALISIERT
DURCH 3.4 SUBSUMPTION 82 G CONTENTS 1.3.2 FIXED-WING PLANES 32 1.3.3
HELICOPTERS 33 1.4 OVERVIEW 35 2 EXAMPLE SYSTEMS 37 2.1 AIRSHIPS 37
2.1.1 TUBROB 38 2.1.2 KARMA 39 2.2 FIXED-WING UAVS 41 2.2.1 BLACKWIDOW
41 2.2.2 CAROLO 42 2.3 HELICOPTERS 43 2.3.1 BEARURSAELECTRA 43 2.3.2
ARTIS 1.9 M HELICOPTER 44 2.3.3 MARVINMARKH 44 2.3.4 QUADROTOR TESTBED
48 2.4 SUBSUMPTION 49 3 ON-BOARD COMPUTERS 51 3.1 REQUIREMENTS 51 3.1.1
TASK AND DATA PROCESSING 51 3.1.2 PERIPHERAL INTERFACING 53 3.1.3
DEVELOPMENT SUPPORT 62 3.2 CPU 66 3.2.1 MULTI-CPU ARCHITECTURE 66 3.2.2
SINGLE-CPU ARCHITECTURE 67 3.2.3 CURRENT PRODUCTS 69 3.3 OPERATING
SYSTEM . . 73 3.3.1 CURRENT PRODUCTS 74 3.3.2 NO UNIVERSAL OS 78 5.3.3
CASCADE CONTROL INDUCTION 115 CONTENTS 9 4 COMMUNICATIONS 83 4.1
REQUIREMENTS 83 4.2 TRANSMISSION DEVICES 85 4.2.1 REMOTE CONTROL SETS 85
4.2.2 RADIO MODEMS 85 4.2.3 WIRELESSLAN 86 4.2.4 DECT 87 4.2.5 GPRS 88
4.3 CORBA 89 4.3.1 CORE ARCHITECTURE 90 4.3.2 REAL-TIME EXTENSION 92
4.3.3 MESSAGING AND ASYNCHRONOUS METHOD INVOCATION 93 4.3.4 EVENT AND
NOTIFIKATION SERVICES 94 4.3.5 MINIMUM CORBA 96 4.3.6 SUBSUMPTION 97 4.4
BBCS 97 4.4.1 FEATURES 98 4.4.2 BANDWIDTH SCHEDULING 100 4.4.3 USAGE 104
4.5 SUBSUMPTION 106 5 FLIGHT CONTROL 107 5.1 REQUIREMENTS 108 5.2
APPROACHES REPORTED IN THE LITERATURE 109 5.2.1 MONOLITHIC LINEARIZATION
109 5.2.2 NONLINEAR MODEL PREDICTIVE TRACKING CONTROL 110 5.2.3
INNER-OUTER-LOOP SEPARATION WITHNEURAL ADAPTATION AND PSEUDOCON-
TROLHEDGING 111 5.2.4 HOO CONTROL 112 5.2.5 CRITICAL REMARK 112 5.3
CONTROL CASCADE BACKSTEPPING 112 5.3.1 STABILITY CONCEPTS 113 5.3.2
CLASSOF SYSTEMS 114 6.2L5 SONAR ; 182 10 CONTENTS 5.3.4 ADAPTIVE
CONTROL: BIAS COMPENSATION STAGE 119 5.3.5 DESTABILIZINGEFFECTOFDEADTIME
124 5.3.6 RESORTING TO INPUT-OUTPUT STABILITY 125 5.4 MULTI-INTEGRATOR
CASCADES 126 5.4.1 DIFFERENTIAL EQUATION VIEW 127 5.4.2 CONTROL LAW VIEW
128 5.4.3 TRAJECTORY VIEW 129 5.4.4 CHOICEOFTHEIT-GAINS 131 5.4.5
DISTANT TARGET POINTS 134 5.5 EXAMPLE CONTROLLER: MARVFN 138 5.5.1 STATE
DESCRIPTION 138 5.5.2 SYSTEM DYNAMICS 141 5.5.3 PARAMETER IDENTIFICATION
144 5.5.4 CONTROL ARCHITECTURE 146 5.5.5 MULTI-POINTTRAJECTORIES 149
5.5.6 EXPERIMENTAL RESULTS 153 5.6 EXAMPLE CONTROLLER: AIRSHIP UAV 156
5.6.1 SYSTEM MODEL 156 5.6.2 CONTROL ARCHITECTURE 160 5.7 EXAMPLE
CONTROLLER: FIXED-WING UAV 163 5.7.1 SYSTEMMODEL 163 5.7.2 CONTROL
ARCHITECTURE 165 5.8 SUBSUMPTION 167 6 SENSORS 169 6.1 REQUIREMENTS 169
6.1.1 GENERAL REQUIREMENTS 170 6.1.2 REQUIREMENTS OF ATTITUEDE
MEASUREMENT 170 6.2 POSITION AND ATTITUEDE SENSORS 172 6.2.1 GPS 173
6.2.2 ROTATION RATE 176 6.2.3 ACCELERATION 178 6.2.4 MAGNETICFIELD 178
BIBLIOGRAPHY 223 CONTENTS 11 6.2.6 INTEGRATED IMUS 183 6.2.7 VISUAL
NAVIGATION 185 6.3 DATA FUSION FOR ATTITUEDE 187 6.3.1 FUSION ALGORITHM
USED WITH MARVTN 188 6.3.2 ANALYSIS 192 6.3.3 FAILSAFE PROCEDURES 199
6.4 IMAGE SENSORS 200 6.4.1 ANALOG VIDEO CAMERAS 200 6.4.2 DIGITAL VIDEO
CAMERAS 201 6.4.3 DIGITAL PHOTO CAMERAS 202 6.5 SUBSUMPTION 205 7
DEVELOPMENT AND SAFETY TOOLS 207 7.1 SOFTWARE-IN-THE-LOOP SIMULATION 207
7.2 DATA LOGGING AND ANALYSIS 211 7.3 FAILSAFE PROCEDURES 214 7.3.1
HUMAN SAFETY PILOT 214 7.3.2 SPECIAL CONTROL MODES 215 7.4 SUBSUMPTION
217 8 CONCLUSION 219 INDEX 221
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| any_adam_object | 1 |
| author | Musial, Marek |
| author_GND | (DE-588)121266184 |
| author_facet | Musial, Marek |
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| building | Verbundindex |
| bvnumber | BV036610225 |
| classification_rvk | ZO 7300 |
| ctrlnum | (OCoLC)699320488 (DE-599)DNB987891367 |
| dewey-full | 629.1326 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.1326 |
| dewey-search | 629.1326 |
| dewey-sort | 3629.1326 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Verkehr / Transport |
| format | Thesis Book |
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| institution | BVB |
| isbn | 9783836461139 |
| language | English |
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| physical | 233 S. Ill., graph. Darst. 24 cm |
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| spelling | Musial, Marek Verfasser (DE-588)121266184 aut System architecture of small autonomous UAVs requirements and design approaches in control, communication, and data processing Marek Musial Saarbrücken VDM Verlag Dr. Müller 2008 233 S. Ill., graph. Darst. 24 cm txt rdacontent n rdamedia nc rdacarrier Hergestellt on demand Zugl.: Berlin, Techn. Univ., Habil.-Schr., 2008 Flugkörper (DE-588)4154756-1 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Flugkörper (DE-588)4154756-1 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020530500&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Musial, Marek System architecture of small autonomous UAVs requirements and design approaches in control, communication, and data processing Flugkörper (DE-588)4154756-1 gnd |
| subject_GND | (DE-588)4154756-1 (DE-588)4113937-9 |
| title | System architecture of small autonomous UAVs requirements and design approaches in control, communication, and data processing |
| title_auth | System architecture of small autonomous UAVs requirements and design approaches in control, communication, and data processing |
| title_exact_search | System architecture of small autonomous UAVs requirements and design approaches in control, communication, and data processing |
| title_full | System architecture of small autonomous UAVs requirements and design approaches in control, communication, and data processing Marek Musial |
| title_fullStr | System architecture of small autonomous UAVs requirements and design approaches in control, communication, and data processing Marek Musial |
| title_full_unstemmed | System architecture of small autonomous UAVs requirements and design approaches in control, communication, and data processing Marek Musial |
| title_short | System architecture of small autonomous UAVs |
| title_sort | system architecture of small autonomous uavs requirements and design approaches in control communication and data processing |
| title_sub | requirements and design approaches in control, communication, and data processing |
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