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This research focuses on the use of magnetorheological (MR) dampers for enhanced occupant protection during harsh vertical landings as well as isolation of the occupant from cockpit vibrations. The capabilities of the current state-of-the-art in helicopter crew seat energy absorption systems are
The focus of this thesis was to design an energy management system for Marsokhod, a six-wheeled Martian rover. The rover is designed with a distributed energy system, each wheel contains a battery, motor controller and H-bridge, while each battery provides power to
Imagine the following situation. You give your favorite robot, named Pippi, the task to fetch a parcel that just arrived at your front door. While pushing the parcel back to you, she must travel through a door opening. Unfortunately, the parcel she
Title: Force Estimation Based Compliance Control of a Two Link Harmonically Driven Robotic Manipulator The estimation of external forces exerted on a robotic manipulator with harmonic drive gearing without a force/torque sensor is considered. Manipulator dynamics, together with motor current feedback are
The Neutral Particle Detector (NPD) is a new type of instrumentation for energetic neutral atom (ENA) diagnostics. This thesis deals with development of the NPD sensor designed as a part of the plasma and neutral particle packages ASPERA-3 and ASPERA-4 on board
To enhance performance and safety, structures of all types are made “smart” with the addition of sensors. These sensors require power, but in some cases conventional power supply methods are inadequate. Ideally, these sensors would convert the available ambient energy into electrical
Many of the applications that have been proposed for future small unmanned aerial vehicles (UAVs) are at low altitude in areas with many obstacles. A vital component for successful navigation in such environments is a path planner that can find collision free
The aim of this research (“Technical And Economic Feasibility Of Telerobotic On-Orbit Satellite Servicing”) is to devise an improved method for evaluating the technical and economic feasibility of telerobotic on-orbit satellite servicing scenarios. Past, present, and future telerobotic on-orbit… Contents 1 Introduction
Aircraft design is a compromise between many competing factors and constrains. These constrains are mainly economical and technical, both having a great influence on how a design is carried out. The technological depends on the economical, therefore it is necessary to find
This thesis presents a method for increasing the accuracy of an industrial robot by integrating a high accuracy measurement system in a feedback control loop. The performance of the system is evaluated on reconfiguring of ART modules and robotic drilling. Today robots