Dissertation/Thesis Abstract

Design of an Aquatic Quadcopter with Optical Wireless Communications
by Haller, Patterson, M.S., Florida Atlantic University, 2016, 134; 10583106
Abstract (Summary)

With a focus on dynamics and control, an aquatic quadcopter with optical wireless communications is modeled, designed, constructed, and tested. Optical transmitter and receiver circuitry is designed and discussed. By utilization of the small angle assumption, the nonlinear dynamics of quadcopter movement are linearized around an equilibrium state of zero motion. The set of equations are then tentatively employed beyond limit of the small angle assumption, as this work represents an initial explorative study. Specific constraints are enforced on the thrust output of all four rotors to reduce the multiple-input multiple-output quadcopter dynamics to a set of single-input singleoutput systems. Root locus and step response plots are used to analyze the roll and pitch rotations of the quadcopter. Ultimately a proportional integral derivative based control system is designed to control the pitch and roll. The vehicle’s yaw rate is similarly studied to develop a proportional controller. The prototype is then implemented via an I2C network of Arduino microcontrollers and supporting hardware.

Indexing (document details)
Advisor: Abtahi, Homayoon
School: Florida Atlantic University
School Location: United States -- Florida
Source: MAI 56/03M(E), Masters Abstracts International
Subjects: Mechanical engineering
Keywords: Arduino, Linear dynamics, Opitcal Wireless Communication, PID Control, Quadcopter, Underwater
Publication Number: 10583106
ISBN: 978-1-369-61344-5
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