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Table Of Contents

I. QUADROTOR DYNAMICS
A. INTRODUCTION
B. QUADROTOR DESIGN
C. DYNAMICS
II. IMPLEMENTATION OF THE SENSOR ENVIRONMENT
B. ULTRA-WIDEBAND RADIO FREQUENCY IDENTIFICATION
C. UBISENSE INTRODUCTION
1. Tags
2. Sensors
3. Software
D. UBISENSE CALIBRATION
E. UBISENSE ACCURACY
F. UBISENSE SOFTWARE FILTERS
G. SPEED OF RESPONSE
III. EXPERIMENTATION SETUP
A. COMMUNICATION SCHEME
1. Ubisense Data
2. MOOS
B. FLIGHT TESTING APPARATUS
IV. NAVIGATION AND CONTROL
B. DISCRETE KALMAN FILTER
C. DISCRETE KALMAN FILTER RESULTS
D. CONTROLLER DESIGN
E. P-D CONTROLLER ANALYSIS
F. PID CONTROLLER
Figure 20. PID Compensators Using High and Low Integral Gains
V. FLIGHT TESTING
B. CONTROLLER TUNING
C. FLIGHT TEST RESULTS
D. CONCLUSIONS
VI. LIMITATIONS AND FUTURE WORK
A. PROJECT LIMITATIONS
B. PROPOSED TECHNOLOGY IMPLEMENTATION
C. FUTURE WORK
LIST OF REFERENCES
INITIAL DISTRIBUTION LIST
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Ada 552095

Ada 552095

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Published by TJMario

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Published by: TJMario on Nov 02, 2013
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