Sekolah Pendidikan Robotika Indonesia

Lecture 15    View Now >
1 hr 12 min Topics: Manipulator Control, PD Control Stability, Task Oriented Control, Task Oriented Equations of Motion, Operational Space Dynamics, Example, Nonlinear Dynamic Decoupling, Trajectory Tracking Video clip “On the Run,” Marc Raibert, MIT, ISRR 1993 Video Proceedings courtesy IEEE (© 1993 IEEE) Transcript: HTML | PDF YouTube | iTunes | Vyew | WMV Torrent | MP4 Torrent

Sumber:

Universitas Stanford, Fakultas Teknik

ACL from MIT

ABOUT ACL

The Aerospace Controls Laboratory (ACL)researches topics related to autonomous systems and control design for aircraft, spacecraft, and ground vehicles. Theoretical research is pursued in areas such as: decision making under uncertainty; path planning, activity and task assignment; estimation and navigation; sensor network design; robust control, adaptive control, and model predictive control. A key part of ACL isRAVEN (Real-time indoor AutonomousVehicle test ENvironment), a unique experimental facility that uses a Vicon motion capture sensing to enable rapid prototyping of aerobatic flight controllers for helicopters and aircraft; robust coordination algorithms for multiple helicopters; and vision-based sensing algorithms for indoor flight.

PRIMARY RESEARCH AREAS

1. Relative Navigation (CDGPS) and Formation Flying Spacecraft
2. Control and Decision Making for UAVs
3. Robust, Nonlinear, and Adaptive Control
4. Ph.D. and Master Theses

JONATHAN P. HOW Professor Department of Aeronautics and Astronautics Aerospace Controls Laboratory Massachusetts Institute of Technology jhow@mit.edu Building 33, Room 326 Map MIT, 77 Mass. Ave., Cambridge MA 02139 Phone: 617-253-3267 Fax: 617-253-7397

Research Interests: Navigation and Control

	Planning and Control for Team MIT - DARPA Grand (Urban) Challenge Team
	My research group and some papers available to download
	Activity planning and trajectory design for cooperating vehicles (UAVs and robots)
		Vision-based navigation for GPS-denied flight (movie)
		Decentralized activity planning for Cooperating UAV's (AFOSR)
		Multi-UAV testbeds - Indoors using autonomous quadrotors (RAVEN) and external UAVs
		Mixed-integer Linear Programming for Multi-Vehicle Control (MILP)
		Autonomous aircraft agile flight and aerobatics
	Spacecraft navigation, control, and autonomy
		Orion Formation Flying Microsatellite Experiment (NASA GSFC)
		Relative Navigation for Formation Flying Spacecraft using GPS (NASA GSFC)
		Autonomous Formation Flying Spacecraft (CETDP) see New scientist and GPSworld
	Magnetic Indoor Absolute Positioning System
	Robust and hybrid control, control of flexible structures using GPS (article)

Recent Classes

	Principles of Optimal Control (OCW)
	Aircraft Stability & Control (OCW)
	Feedback Control Systems (OCW)
	Aerospace Dynamics (OCW)

Sekolah Pendidikan Robotika Indonesia

Lecture 14    View Now >
1 hr 13 min Topics: PD Control, Control Partitioning, Motion Control, Disturbance Rejection, Steady-State Error, PID Control, Effective Inertia Video clip “A Finger-Shaped Tactile Sensor Using an Optical Waveguide,” H. Maekawa et al., MEL, AIST-MITI, Tsukuba, Japan, ICRA 1993 Video Proceedings courtesy IEEE (© 1993 IEEE) Transcript: HTML | PDF YouTube | iTunes | Vyew | WMV Torrent | MP4 Torrent

Sumber:

Universitas Stanford, Fakultas Teknik