by Kwok-wai Au. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 55-58). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgments --- p.iii / Contents --- p.iv / List of Figures --- p.vi / List of Tables --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Previous work --- p.5 / Chapter 1.3 --- Thesis overview --- p.7 / Chapter 2 --- Dynamics of the Single Wheel Robot --- p.10 / Chapter 2.1 --- Dynamic model of a rolling disk --- p.10 / Chapter 2.1.1 --- Kinematic constraints --- p.11 / Chapter 2.1.2 --- Equations of motion --- p.13 / Chapter 2.1.3 --- Characteristics of the rolling disk --- p.15 / Chapter 2.2 --- Dynamic model of the single wheel robot --- p.18 / Chapter 2.2.1 --- Coordinate frames and generalized coordinates --- p.19 / Chapter 2.2.2 --- Equations of motion --- p.21 / Chapter 2.2.3 --- Model simplification --- p.24 / Chapter 2.3 --- Dynamic properties of the single wheel robot --- p.27 / Chapter 3 --- Stabilization of the Single Wheel Robot --- p.30 / Chapter 3.1 --- Linearized model --- p.30 / Chapter 3.2 --- Controllability and non-minimum phase characteristics --- p.33 / Chapter 3.3 --- Linear state feedback --- p.33 / Chapter 3.4 --- Simulation Study --- p.35 / Chapter 4 --- Path Following of the Single Wheel Robot --- p.37 / Chapter 4.1 --- Path following for nonholonomic systems --- p.37 / Chapter 4.2 --- Definition of path following --- p.39 / Chapter 4.3 --- New configuration --- p.39 / Chapter 4.4 --- Line following --- p.41 / Chapter 4.4.1 --- Velocity control law --- p.42 / Chapter 4.4.2 --- Convergence for the velocity control law --- p.43 / Chapter 4.4.3 --- Torque control law --- p.45 / Chapter 4.5 --- Simulation study --- p.47 / Chapter 4.5.1 --- Effect of the initial heading angle --- p.47 / Chapter 4.5.2 --- Effect of the rolling speed --- p.49 / Chapter 4.5.3 --- Follow a desired line --- p.50 / Chapter 4.5.4 --- Effect of the smoothness parameter --- p.50 / Chapter 5 --- Conclusion --- p.52 / Chapter 5.1 --- Contributions --- p.52 / Chapter 5.2 --- Future work --- p.53 / Bibliography --- p.55

by Wai-Kuen Yu. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 83-87). / Abstracts in English and Chinese. / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Robot Concept --- p.1 / Chapter 1.2 --- Motivations --- p.3 / Chapter 1.3 --- Related Work --- p.5 / Chapter 1.4 --- Overview --- p.6 / Chapter 2 --- Single Wheel Robot --- p.8 / Chapter 2.1 --- Mathematical Model --- p.8 / Chapter 2.1.1 --- Coordinate Frame --- p.9 / Chapter 2.1.2 --- Equations of Motion --- p.10 / Chapter 2.1.3 --- Model Simplification --- p.12 / Chapter 2.2 --- Hardware Descriptions --- p.13 / Chapter 2.2.1 --- Actuators --- p.14 / Chapter 2.2.2 --- Sensors --- p.14 / Chapter 2.2.3 --- Communication Subsystem --- p.15 / Chapter 2.2.4 --- Computer Subsystem --- p.16 / Chapter 2.3 --- Software Descriptions --- p.16 / Chapter 2.3.1 --- Operating System --- p.17 / Chapter 2.3.2 --- Software Architecture --- p.18 / Chapter 3 --- Human-based Control --- p.21 / Chapter 3.1 --- Why Human-based Control --- p.21 / Chapter 3.2 --- Modeling Human Control Strategy --- p.22 / Chapter 3.2.1 --- Human Control Strategy --- p.22 / Chapter 3.2.2 --- Neural Network for Modeling --- p.23 / Chapter 3.2.3 --- Learning Procedure --- p.24 / Chapter 3.3 --- Task Descriptions --- p.28 / Chapter 3.4 --- Modeling HCS in Controlling the Robot --- p.29 / Chapter 3.4.1 --- Model Input and Output --- p.30 / Chapter 3.4.2 --- Human-based Controller --- p.31 / Chapter 3.5 --- Result and Discussion --- p.31 / Chapter 4 --- Input Selection --- p.38 / Chapter 4.1 --- Why Input Selection --- p.38 / Chapter 4.2 --- Model Validation --- p.39 / Chapter 4.2.1 --- Why Model Validation --- p.39 / Chapter 4.2.2 --- Root Mean Square Error Measure --- p.40 / Chapter 4.3 --- Experimental Setup --- p.40 / Chapter 4.4 --- Model-based Method --- p.41 / Chapter 4.4.1 --- Problem Definition --- p.41 / Chapter 4.4.2 --- Input Representation --- p.43 / Chapter 4.4.3 --- Sensitivity Analysis --- p.44 / Chapter 4.4.4 --- Experimental Result --- p.47 / Chapter 4.5 --- Model-free Method --- p.51 / Chapter 4.5.1 --- Problems Definition --- p.51 / Chapter 4.5.2 --- Factor Analysis --- p.54 / Chapter 4.5.3 --- Experimental Result --- p.63 / Chapter 4.6 --- Model-based Method versus Model-free Method --- p.66 / Chapter 5 --- Conclusion and Future Work --- p.71 / Chapter 5.1 --- Contributions --- p.71 / Chapter 5.2 --- Future Work --- p.72 / Chapter Appendix A --- Dynamic Model of the Robot --- p.74 / Chapter A.1 --- Kinematic Constraints: Holonomic and Nonholonomic --- p.74 / Chapter A.1.1 --- Coordinate Frame --- p.74 / Chapter A.2 --- Robot Dynamics --- p.76 / Chapter A.2.1 --- Single Wheel --- p.77 / Chapter A.2.2 --- Internal Mechanism and Spinning Flywheel --- p.77 / Chapter A.2.3 --- Lagrangians of the System --- p.78 / Chapter Appendix B --- Similarity Measure --- p.80 / Bibliography --- p.82

by Loi-Wah Sun. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 77-81). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgments --- p.iii / Contents --- p.v / List of Figures --- p.vii / List of Tables --- p.viii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.1.1 --- Literature review --- p.2 / Chapter 1.1.2 --- Gyroscopic precession --- p.5 / Chapter 1.2 --- Thesis overview --- p.7 / Chapter 2 --- Dynamics of the robot on ground --- p.9 / Chapter 2.1 --- System model re-derivation --- p.10 / Chapter 2.1.1 --- Linearized model --- p.15 / Chapter 2.2 --- A state feedback control --- p.16 / Chapter 2.3 --- Dynamic characteristics of the system --- p.18 / Chapter 2.4 --- Simulation study --- p.19 / Chapter 2.4.1 --- The self-stabilizing dynamics effect of the single wheel robot --- p.21 / Chapter 2.4.2 --- The Tilting effect of flywheel on the robot --- p.23 / Chapter 2.5 --- Dynamic parameters analysis --- p.25 / Chapter 2.5.1 --- Swinging pendulum --- p.25 / Chapter 2.5.2 --- Analysis of radius ratios --- p.27 / Chapter 2.5.3 --- Analysis of mass ratios --- p.30 / Chapter 3 --- Dynamics of the robot on incline --- p.33 / Chapter 3.1 --- Modeling of rolling disk on incline --- p.33 / Chapter 3.1.1 --- Disk rolls up on an inclined plane --- p.37 / Chapter 3.2 --- Modeling of single wheel robot on incline --- p.39 / Chapter 3.2.1 --- Kinematic constraints --- p.40 / Chapter 3.2.2 --- Equations of motion --- p.41 / Chapter 3.2.3 --- Model simplification --- p.43 / Chapter 3.2.4 --- Linearized model --- p.46 / Chapter 4 --- Control of the robot on incline --- p.47 / Chapter 4.1 --- A state feedback control --- p.47 / Chapter 4.1.1 --- Simulation study --- p.49 / Chapter 4.2 --- Backstepping-based control --- p.51 / Chapter 4.2.1 --- Simulation study --- p.53 / Chapter 4.2.2 --- The effect of the spinning rate of flywheel --- p.56 / Chapter 4.2.3 --- Simulation study --- p.58 / Chapter 4.2.4 --- Roll up case --- p.58 / Chapter 4.2.5 --- Roll down case --- p.58 / Chapter 5 --- Motion planning --- p.61 / Chapter 5.1 --- Performance index --- p.61 / Chapter 5.2 --- Condition of rolling up --- p.62 / Chapter 5.3 --- Motion planning of rolling Up --- p.65 / Chapter 5.3.1 --- Method I : Orientation change --- p.65 / Chapter 5.3.2 --- Method II : Change the initial velocities --- p.69 / Chapter 5.4 --- Wheel rolls Down --- p.70 / Chapter 5.4.1 --- Terminal velocity of rolling body down --- p.73 / Chapter 6 --- Summary --- p.75 / Chapter 6.1 --- Contributions --- p.75 / Chapter 6.2 --- Future Works --- p.76 / Bibliography --- p.78

After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. / Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot. / In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. / Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. / The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. / To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base. / Huang Panfeng. / "December 2005." / Adviser: Yang Sheng Xu. / Source: Dissertation Abstracts International, Volume: 67-11, Section: B, page: 6693. / Thesis (Ph.D.)--Chinese University of Hong Kong, 2005. / Includes bibliographical references (p. 133-143). / Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Electronic reproduction. [Ann Arbor, MI] : ProQuest Information and Learning, [200-] System requirements: Adobe Acrobat Reader. Available via World Wide Web. / Abstracts in English and Chinese. / School code: 1307.

Thesis (Ph. D.)--University of Hong Kong, 2007. / Title proper from title frame. Also available in printed format.

Thesis (Ph.D.)--University of Delaware, 2006. / Principal faculty advisor: Sunil K. Agrawal, Dept. of Mechanical Engineering. Includes bibliographical references.

Reproduction de : Thèse de doctorat : Systèmes automatiques : Toulouse, INPT : 2006. / Titre provenant de l'écran-titre. Bibliogr. 83 réf.

Thèse (M.Sc.)--Université Laval, 2008. / Bibliogr.: f. 97-99. Publié aussi en version électronique dans la Collection Mémoires et thèses électroniques.

Thesis (M.S. in Electrical Engineering)--Vanderbilt University, May 2002. / Title from title screen. Includes bibliographical references.

published_or_final_version / Mechanical Engineering / Master / Master of Philosophy