{"442671":{"#nid":"442671","#data":{"type":"event","title":"Submitted PhD Proposal - Daniel Murdock","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003EAdvisor:\u003C\/strong\u003E Dr. Taylor\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract:\u0026nbsp;\u003C\/strong\u003EThe objective of the proposed research is to develop modeling, identification and control methods for a two-axis pendulum on wheels, referred to as a wheeled balancing system or WBS, and to demonstrate these methods experimentally. \u0026nbsp;The WBS is a mobile platform with an inverted pendulum payload, and it may be viewed as a combination of a reaction wheel pendulum (RWP) and a wheeled inverted pendulum (WIP). \u0026nbsp;The platform freely rotates along the pitch-axis, and the payload freely rotates along the roll-axis. \u0026nbsp;Motors actuate the two wheels in ground contact to stabilize pitch motions, drive yaw-axis rotations, and impose linear translations. \u0026nbsp;The reaction principle is used to stabilize roll-axis payload motions, by driving a motor with an inertia load, connected at the non-pivoting pendulum end. \u0026nbsp;Encoders are mounted on the rotor shaft of each motor and on the pendulum pivot to measure angular positions. \u0026nbsp;Inertial sensors are mounted near the WBS center-of-mass to infer the angular velocities and accelerations of the platform, and pendulum payload. \u0026nbsp;Additional disturbances affecting the system include motor cogging torque, quantization in the position measurements, and analog noise in the current and inertial sensor measurements. \u0026nbsp;The first control objective is to maintain upright stabilization, and the second objective is to keep the pendulum payload upright regardless of the platform-base roll-angle.\u003C\/p\u003E","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Modeling, Identification and Control of a Wheeled Balancing System"}],"uid":"28475","created_gmt":"2015-08-31 17:03:59","changed_gmt":"2016-10-08 02:13:32","author":"Daniela Staiculescu","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2015-09-21T09:00:00-04:00","event_time_end":"2015-10-05T09:00:00-04:00","event_time_end_last":"2015-10-05T09:00:00-04:00","gmt_time_start":"2015-09-21 13:00:00","gmt_time_end":"2015-10-05 13:00:00","gmt_time_end_last":"2015-10-05 13:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"434351","name":"ECE Submitted Ph.D. Proposals"}],"categories":[],"keywords":[],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}