Moscicki, Travis

This thesis presents the concept of dynamics-aware parabolic blends for an unmanned surface vehicle. Typically, trajectory generation techniques consider only kinematic constraints on a vehicle. By transforming the equations of motion for a surface vehicle to the body fixed frame, the dynamical constraints on the system are more intuitively integrated into the trajectory generator, when compared to working in the Earth fixed frame. Additionally, the accelerations, velocities, and positions generated by the parabolic blend algorithm are incorporated into the dynamic equations of motion for the vehicle to provide the feedforward control input of a two degree of freedom control law. The feedback control input of the two degree of freedom scheme is an integral sliding mode control law, which tracks the error between the vehicle state and the desired states generated by the novel parabolic blend technique. The approach is numerically validated through simulation, where the described control law demonstrates a 71.93% reduction in error when compared to a standard proportional-derivative control law subjected to the same desired trajectory. Furthermore, on water experiments were performed using both a proportional-derivative control law and an integral sliding mode control law. Both showed the ability to track the proposed parabolic blend approach.

The 3MT® competition celebrates the exciting research conducted by graduate students. Developed by The University of Queensland (UQ), the exercise cultivates students’ academic, presentation, and research communication skills. The competition supports their capacity to effectively explain their research in three minutes, in language appropriate to a non-specialist audience. The first 3MT® competition was held at the University of Queensland in 2008 with 160 students competing. In 2009 and 2010 the 3MT® competition was promoted to other Australian and New Zealand universities and enthusiasm for the concept grew. Since 2011, the popularity of the competition has increased and 3MT® competitions are now held in over 170 universities across more than 18 countries worldwide.