Sökning: "6 degrees of freedom control"

Visar resultat 1 - 5 av 17 uppsatser innehållade orden 6 degrees of freedom control.

  1. 1. Real-time motion planning of 6 DOF Collaborative Robot

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Seyedhesam Ahmadi; [2022]
    Nyckelord :Robotic manipulation; Motion planning; OMPL; MoveIt; UR5; KPIECE; PDST; EST.; Robotmanipulation; Rörelseplanering; OMPL; MoveIt; UR5; KPIECE; PDST; EST.;

    Sammanfattning : Motion planning is an essential component of an autonomous system. This project aims to design a motion planning module to automate the screwing process of radio units. LÄS MER

  3. 2. Optimization of Physical Uplink Resource Allocation in 5G Cellular Network using Monte Carlo Tree Search

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Gerard Girame Rizzo; [2022]
    Nyckelord :5G NR; PUCCH format; Combinatorial optimization; Physical resource allocation; Monte Carlo Tree Search; 5G NR; PUCCH-format; kombinatorisk optimering; fysisk resursfördelning; Monte Carlo Tree Search;

    Sammanfattning : The Physical Uplink Control Channel (PUCCH), which is mainly used to transmit Uplink Control Information (UCI), is a key component to enable the 5G NR system. Compared to LTE, NR specifies a more flexible PUCCH structure to support various applications and use cases. LÄS MER

  4. 3. Extended Kalman Filter as Observer for a Hydrofoiling Watercraft : Modelling of a new hydrofoiling concept, based on the Spherical Inverted Pendulum Model

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Adam Thålin; [2022]
    Nyckelord :Extended Kalman Filter; Hydrofoiling; Spherical Inverted Pendulum; Sensor Fusion; Simulink; Bärplan; Extended Kalman Filter; Farkostteknik; Inverterad Pendel; Sensorfusion; Sex frihetsgrader; Simulink;

    Sammanfattning : Hydrofoiling in general has the potential to revolutionize watercraft in the future since it allows smoother and faster transport on water with less energy consumption than traditional planning hulls. Even if the concept of hydrofoiling has been around since the last century, development in control theory and material science together with increased computing power has led to a growing interest for the technology. LÄS MER

  5. 4. Physics-Informed Deep Learning for System Identification of Autonomous Underwater Vehicles : A Lagrangian Neural Network Approach

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Badi Mirzai; [2021]
    Nyckelord :AUV; System Identification; Deep Learning; Physics-Informed Deep Learning; Lagrangian Neural Networks; AUV; System Identifiering; Djupinlärning; Fysik-Informerad Djupinlärning; Lagrangianska Neurala Nätverk;

    Sammanfattning : In this thesis, we explore Lagrangian Neural Networks (LNNs) for system identification of Autonomous Underwater Vehicles (AUVs) with 6 degrees of freedom. One of the main challenges of AUVs is that they have limited wireless communication and navigation under water. LÄS MER

  7. 5. Adaptive Concrete 3D Printing Based on industrial Robotics

    Master-uppsats, KTH/Maskinkonstruktion (Inst.)

    Författare :Ruiming Hu; [2021]
    Nyckelord :Additive Manufacture; 6-Axis Robot; Point Cloud; Self-Compensation; Additiv tillverkning; 6-axlig robot; punktmoln; självkompensation;

    Sammanfattning : Additive manufacturing, also known as 3D printing is the construction of a three-dimensional object from 3D CAD model. The process includes that material depositing, joining or solidifying using computer control. It is getting widely used in many fields, such as architecture and civil engineering, industry and even medical fields. LÄS MER