NOTE: This item is not available outside the Texas A&M University network. Texas A&M affiliated users who are off campus can access the item through NetID and password authentication or by using TAMU VPN. Non-affiliated individuals should request a copy through their local library's interlibrary loan service.
Vision based navigation using novel optical sensors
| dc.creator | Wazni, Karim Patrick | |
| dc.date.accessioned | 2012-06-07T22:58:00Z | |
| dc.date.available | 2012-06-07T22:58:00Z | |
| dc.date.created | 1999 | |
| dc.date.issued | 1999 | |
| dc.identifier.uri | https://hdl.handle.net/1969.1/ETD-TAMU-1999-THESIS-W3 | |
| dc.description | Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to digital@library.tamu.edu, referencing the URI of the item. | en |
| dc.description | Includes bibliographical references (leaves 74). | en |
| dc.description | Issued also on microfiche from Lange Micrographics. | en |
| dc.description.abstract | An optical position measurement system based on Position Sensing Diode technology is tested in its planar version. The system features active target intensity control and signal light modulation. Preliminary calibration procedures are researched and experimented. Algorithms based on Nonlinear Least Squares are derived and simulated to recover the 3 degrees of freedom of a robot moving in a plane, using different integration schemes of the measurement system. An Extended Kalman filter is designed and simulated to identify the robot parameters. Experimentations include real-time recovery of the motion of a telerobot free to float on air bearings, and the actual identification of its dynamical parameters, such as mass, inertia and thrust. In view of the experimental results, some improvements to the position sensing algorithm are proposed and successfully simulated. Overall accuracies in the motion sensing reach sensitivities of 1 part in 500 at update rates of 10Hz, using regular PC computers for computations and data acquisition. | en |
| dc.format.medium | electronic | en |
| dc.format.mimetype | application/pdf | |
| dc.language.iso | en_US | |
| dc.publisher | Texas A&M University | |
| dc.rights | This thesis was part of a retrospective digitization project authorized by the Texas A&M University Libraries in 2008. Copyright remains vested with the author(s). It is the user's responsibility to secure permission from the copyright holder(s) for re-use of the work beyond the provision of Fair Use. | en |
| dc.subject | aerospace engineering. | en |
| dc.subject | Major aerospace engineering. | en |
| dc.title | Vision based navigation using novel optical sensors | en |
| dc.type | Thesis | en |
| thesis.degree.discipline | aerospace engineering | en |
| thesis.degree.name | M.S. | en |
| thesis.degree.level | Masters | en |
| dc.type.genre | thesis | en |
| dc.type.material | text | en |
| dc.format.digitalOrigin | reformatted digital | en |
Files in this item
This item appears in the following Collection(s)
-
Digitized Theses and Dissertations (1922–2004)
Texas A&M University Theses and Dissertations (1922–2004)
Request Open Access
This item and its contents are restricted. If this is your thesis or dissertation, you can make it open-access. This will allow all visitors to view the contents of the thesis.