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BEGIN:VCALENDAR VERSION:2.0 PRODID:-//Penn Engineering Events - ECPv6.18.0//NONSGML v1.0//EN CALSCALE:GREGORIAN METHOD:PUBLISH X-WR-CALNAME:Penn Engineering Events X-ORIGINAL-URL:https://seasevents.nmsdev7.com X-WR-CALDESC:Events for Penn Engineering Events REFRESH-INTERVAL;VALUE=DURATION:PT1H X-Robots-Tag:noindex X-PUBLISHED-TTL:PT1H BEGIN:VTIMEZONE TZID:America/New_York BEGIN:DAYLIGHT TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:EDT DTSTART:20180311T070000 END:DAYLIGHT BEGIN:STANDARD TZOFFSETFROM:-0400 TZOFFSETTO:-0500 TZNAME:EST DTSTART:20181104T060000 END:STANDARD BEGIN:DAYLIGHT TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:EDT DTSTART:20190310T070000 END:DAYLIGHT BEGIN:STANDARD TZOFFSETFROM:-0400 TZOFFSETTO:-0500 TZNAME:EST DTSTART:20191103T060000 END:STANDARD BEGIN:DAYLIGHT TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:EDT DTSTART:20200308T070000 END:DAYLIGHT BEGIN:STANDARD TZOFFSETFROM:-0400 TZOFFSETTO:-0500 TZNAME:EST DTSTART:20201101T060000 END:STANDARD END:VTIMEZONE BEGIN:VEVENT DTSTART;TZID=America/New_York:20191028T110000 DTEND;TZID=America/New_York:20191028T123000 DTSTAMP:20191016T144200Z CREATED:20191016T144200Z LAST-MODIFIED:20191016T144200Z UID:2137-1572260400-1572265800@seasevents.nmsdev7.com SUMMARY:ESE Doctoral Dissertation Defense: "IMU-Based State Estimation and Control of Quadrotors Leveraging Aerodynamic Effects" DESCRIPTION:Abstract: Quadrotors and multirotors in general are common in many inspection and surveillance applications. For these applications\, visual-inertial odometry is a common way to localize the vehicles and observe the environment. However\, unlike with wheeled mobile robots\, quadrotor localization algorithms often do not use knowledge of the control inputs and the full vehicle dynamics as a process model for localization. Rather\, they use kinematic models\, with the IMU providing acceleration and angular velocity. One of the reasons for avoiding the use of dynamics is that\, until recently quadrotor aerodynamic effects have not been considered in the literature and hence the dynamic models for quadrotors have been less accurate than those for wheeled mobile robots. The main aerodynamic terms that are significant are first-order effects that are linear in velocity and angular velocity. They are predominantly caused by aerodynamic interaction with the spinning propellers. This work investigates the models for such effects\, as well as what can be gained if such aerodynamic effects are incorporated into the dynamic model and the full dynamics are used for state estimation. We develop novel IMU-based filters\, the end results of which are used to estimate the wind velocity of the quadrotor or\, indoors\, when the ambient wind is zero\, the velocity of the quadrotor. In addition\, these filters estimate the many aerodynamic parameters in the model online. They may also be used to estimate sensor biases and inertial parameters. We demonstrate the effectiveness of these filters through experiments. We also present nonlinear observability analyses that theoretically determine the observability properties of the systems. \nCommittee Members:\nVijay Kumar\, Nemirovsky Family Dean of Engineering\nAni Hsieh\, Research Associate Professor\, MEAM\nKostas Daniliidis\, Ruth Yalom Stone Professor\, CIS\nCamillo J. Taylor\, Professor\, CIS\nGiuseppe Loianno\, Associate Professor\, NYU ECE URL:https://seasevents.nmsdev7.com/event/ese-doctoral-dissertation-defense-imu-based-state-estimation-and-control-of-quadrotors-leveraging-aerodynamic-effects/ LOCATION:Room 307\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States END:VEVENT END:VCALENDAR