Searched for: subject%3A%22Controllability%22
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Rado, Karlo (author)
A key challenge for SaR robotics is to avoid dynamic obstacles in cluttered environments, with limited and noisy information. In this research, a controller for SaR robots is developed by coupling a local heuristic motion planner with a model predictive control (MPC) based trajectory tracker. Constraint tightening and tube-based control are used...
master thesis 2023
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van der Werf, J.A. (author)
REAL-time control (RTC) is a technique used to dynamically control urban drainage systems to utilise the existing infrastructuremore optimally. It can be used to achieve a number of objectives aiming to improve the functioning of the urban drainage system, typically through the reduction of pollution. When heavy rainfall occurs, combined sewer...
doctoral thesis 2023
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de Vries, Irene (author)
Polders water canals are sometimes exposed to brackish seepage from the nearby saline sea (salinization). This is a problem because the canal water is used to irrigate crops. A characteristic of water is that less dense (fresh) water floats on top of dense (saline) water. In lakes and oceans, it is common that water layers with various densities...
master thesis 2023
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Amur, Arjav Anand (author)
The Flying-V is a disruptive flying wing aircraft configuration that was realized at the Airbus Future Projects Office (FPO), with research and development continuing at TU Delft. Preliminary findings have indicated that the Flying-V is 25\% more aerodynamically efficient than the state-of-the-art Airbus A350. To further reap the benefits of...
master thesis 2023
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Benist, Bram (author)
This master thesis introduces Hierarchical Active Inference Control (HAIC) as a control method for nonholonomic systems. This method only requires tuning of a minimal number of hyperparameters and has a relative low computation load. HAIC is based on recent research done in the application of the neuroscientific theory of Active Inference for...
master thesis 2023
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Harmankaya, Hüseyin (author)
Commercially available Lane Keeping Assist systems fail to consider the driver's intentions since they mainly focus on minimising path tracking errors, resulting in conflicts between humans and automation. This often leads to users being unsatisfactory and turning off the assist, as a result diminishing the advantages such as reduced workload...
master thesis 2023
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Weninger, B. (author)
We have to overcome the intermittent nature of renewables to master the energy transition. Harvesting renewable electricity is only part of the solution. Energy storage is another part and the main challenge of our time. Only with efficient storage solutions can big industries switch to renewables.<br/>Electricity storage is most efficient with...
doctoral thesis 2023
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Gu, Zhengping (author)
Feedback error learning (FEL) is a classical computational model that describes human motor learning. It consists of forward and inverse models representing internal dynamics and environmental disturbances. Such models can be used as controllers that represent the function of the motor cortex. On top of FEL, a model has been built with jointly...
master thesis 2023
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Kool, Floris (author)
The adoption of data marketplaces is lacking. Data marketplaces work differently from other information sharing platforms (such as supply chain platforms), because they are more open. This openness allows data to be shared with many more companies, bringing more potential benefits, but also increasing the risk. On data marketplaces there...
master thesis 2023
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Knoppert, Sammie (author)
In the last decades, climate change is causing our environment to change rapidly, unprecedented in recent history. Civil engineering structures are dependent on the deteriorating environment they are situated in. Changes can cause an increase in loading due to, for example, extreme weather events or alter the structure’s resistance by, for...
master thesis 2023
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Seferlis, Ilias (author)
As Autonomous Vehicles (AVs) navigate through dynamic and constantly changing environments, it is crucial that they take into account the impact of their actions on the decisions of others for safe and efficient interaction with humans. In doing so, they need to anticipate how humans will behave in different situations based on their intentions....
master thesis 2023
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Verwer, Steven (author)
The thesis explores designing an attitude and orbital control system for an autonomous 6U CubeSat near-Earth asteroid fly-by mission, aiming to conceptualize an off-the-shelf solution. It addresses selecting propulsion systems for interplanetary travel, reaction wheel desaturation, and attitude control during the mission.<br/><br/>Through a fuel...
master thesis 2023
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Munster, Marcel (author)
An aging population puts a pressure on health-care workers working with dementia patients globally. A potential solution is to provide care with Socially Assistive Robots (SARs), i.e. robots who help people through social interaction. However, for effective care these SARs must be able to personalize their behavior to individual patients and...
master thesis 2023
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Rueda Oller, Guillem (author)
The Geosynchronous Large Debris Reorbiter concept is an active debris removal method proposed for defunct satellites in geostationary orbit. This method uses the electrostatic tractor (or tug), which is a spacecraft that controls a mutual electrostatic force on a target and uses this force to slowly accelerate the target towards or away from the...
master thesis 2023
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Lancelot, P.M.G.J. (author)
The exponential growth of the aviation sector combined with environmental and energy supply challenges have led companies to innovate to reduce aircraft fuel consumption. Among the many areas currently under research, this thesis investigates the possibility of making aircraft wings lighter thanks to flight load alleviation systems and more...
doctoral thesis 2023
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Breysens, G. (author)
This thesis investigates the potential of state-dependent sampling strategies (SDSS) for the control of heavy-haul trains. Event-triggered control (ETC) is a control approach in which data is only sent when some state-dependent condition, the triggering condition, is satisfied. In this way, the number of communications required to stabilise a...
master thesis 2023
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Klomp, R.E. (author)
THE increasing demand in worldwide air travel is foreseen to push the limits of capacity of the current Air TrafficManagement (ATM) system within the coming decade. Therefore, twomajor international programs have been initiated to fundamentally restructure the way in which Air Traffic Control (ATC) is performed. A key pillar in both programs is...
doctoral thesis 2023
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van de Ketterij, Dennis (author)
Inherent limitations of linear control, including PID, are Bode's phase-gain relationship and the waterbed-effect. Literature showed that reset control can overcome these limitations. The 'Constant in Gain, Lead in Phase' (CgLp) reset element was developed, which can be used in combination with a conventional PID approach. The benefit is that...
master thesis 2023
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Jarne Ornia, D. (author)
Besides facing the same challenges as single-agent systems, the distributed nature of complex multi-agent systems sparks many questions and problems revolving around the constraints imposed by communication. The idea that multi-agent systems require communication to access information, to coordinate or simply to sense the environment they are...
doctoral thesis 2023
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Brummelhuis, Martijn (author)
Aerial physical interaction opens the door for many operations at height to be automatised using aerial robots. This research presents a novel manipulator design mounted on a traditional quadrotor, which utilises both mechanical and software compliance to perform physical interaction on vertical walls and overhanging surfaces, such as those...
master thesis 2023
Searched for: subject%3A%22Controllability%22
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