Βελτιστοποίηση αεροδυναμικού σχεδιασμού και δικτυώματος ιπτάμενου χειριστή προσανατολισμένου στο πρόβλημα ελέγχου

Στέφος, Γεώργιος; Ποταμίτης-Κόμης, Ελευθέριος; Stefos, Georgios; Potamitis-Komis, Eleftherios

dc.contributor.author	Στέφος, Γεώργιος	el
dc.contributor.author	Ποταμίτης-Κόμης, Ελευθέριος	el
dc.contributor.author	Stefos, Georgios	en
dc.contributor.author	Potamitis-Komis, Eleftherios	en
dc.date.accessioned	2017-02-20T11:14:40Z
dc.date.available	2017-02-20T11:14:40Z
dc.date.issued	2017-02-20
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/44390
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.13912
dc.rights	Default License
dc.subject	Βελτιστοποίηση	el
dc.subject	Ρομποτική	el
dc.subject	Δικτύωμα	el
dc.subject	Σχεδιασμός	el
dc.subject	Εναέριος χειριστής	el
dc.subject	Robotics	en
dc.subject	Truss	en
dc.subject	Aerial manipulator	en
dc.subject	Design	en
dc.subject	Optimization	en
dc.title	Βελτιστοποίηση αεροδυναμικού σχεδιασμού και δικτυώματος ιπτάμενου χειριστή προσανατολισμένου στο πρόβλημα ελέγχου	el
heal.type	bachelorThesis
heal.classification	Ρομποτική	el
heal.classification	Βελτιστοποίηση	el
heal.language	el
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2016-11-10
heal.abstract	Σχεδιασμός και βελτιστοποίηση εναέριου χειριστή με έξι βαθμούς ελευθερίας , χωρίς προσανατολισμό πτήσης , ως προς τον όγκο και τις προδιαγραφές του, καθώς και σχεδιασμός και βελτιστοποίηση του δικτυώματος της κατασκευής	el
heal.abstract	In the last few years great expansion has been noticed in the field of UAVs and especially towards aerial manipulation. In this thesis we confront the challenge of designing such an aerial manipulator. The design is oriented towards the control problems that arise in the operation of the aerial manipulator such as aerodynamic interaction of the flaws produced by the thrusters and the sensitivity of the systems to small changes of the state-variables. This UAV will be equipped with a manipulator (end-effector), regardless of the degrees of freedom of the end-effector, the UAV will be able to exert forces and torques in all direction. This thesis is a part of the work being done towards the construction of the aerial manipulator. It is meanly a continuation of the George Gavridis [1] thesis in which he accomplished to minimize the volume of the structure while fulfilling the constraints responsible for robust operation. Here, in this thesis we went a step further by studying the previous algorithm and making changes thus making the algorithm a lot faster. Having done that we could focus on adding more constraints and changing the objective function so as to approach a more functional optimal solution. The change in the objective function was made because there was nothing to ensure that thrusters won’t be needed to provide more thrust than it could be produced from the commercially available products. Next came the design of the truss that would support the different parts of the aerial manipulator. Here, we used two different methodologies. The first one made use of a genetic algorithm from the programming environment Matlab interfacing the software ANSYS to find the optimum truss. The second was an innovative methodology which was produced in the context of this thesis in order to avoid buckling of the limbs of the truss.	en
heal.advisorName	Κυριακόπουλος, Κωνσταντίνος	el
heal.committeeMemberName	Κυριακόπουλος, Κωνσταντίνος	el
heal.committeeMemberName	Παπαδόπουλος, Ευάγγελος	el
heal.committeeMemberName	Αντωνιάδης, Ιωάννης	el
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών. Τομέας Μηχανολογικών Κατασκευών και Αυτομάτου Ελέγχου. Εργαστήριο Αυτομάτου Ελέγχου και Ρυθμίσεως Μηχανών και Εγκαταστάσεων	el
heal.academicPublisherID	ntua
heal.numberOfPages	145 σ.	el
heal.fullTextAvailability	true