Omnidirectional Tilt-Rotor Flying Robots for Aerial Physical Interaction PDF Download
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Author: Karen Bodie
Publisher: Springer Nature
ISBN: 3031454979
Category : Technology & Engineering
Languages : en
Pages : 230
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Book Description
This book deals with the study of tilt-rotor omnidirectional aerial robots and their application to aerial physical interaction tasks. Omnidirectional aerial robots possess decoupled translational and rotational dynamics, which are important for stable and sustained aerial interaction. The additional ability to dynamically re-orient thrust vectors opens the door to a wide array of possible morphologies and system capabilities. Through modeling, control, prototype design, and experimental evaluation, this book presents a comprehensive methodology and examples for the development of a novel tilt-rotor aerial manipulator. This work serves as a guide for envisioning and constructing innovative systems that will advance the frontier of aerial manipulation.
Author: Karen Bodie
Publisher: Springer Nature
ISBN: 3031454979
Category : Technology & Engineering
Languages : en
Pages : 230
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Book Description
This book deals with the study of tilt-rotor omnidirectional aerial robots and their application to aerial physical interaction tasks. Omnidirectional aerial robots possess decoupled translational and rotational dynamics, which are important for stable and sustained aerial interaction. The additional ability to dynamically re-orient thrust vectors opens the door to a wide array of possible morphologies and system capabilities. Through modeling, control, prototype design, and experimental evaluation, this book presents a comprehensive methodology and examples for the development of a novel tilt-rotor aerial manipulator. This work serves as a guide for envisioning and constructing innovative systems that will advance the frontier of aerial manipulation.
Author: Burak Yüksel
Publisher: Logos Verlag Berlin GmbH
ISBN: 3832544925
Category : Technology & Engineering
Languages : en
Pages : 219
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Book Description
Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.
Author: Teodor Tomić
Publisher: Springer Nature
ISBN: 3031153936
Category : Technology & Engineering
Languages : en
Pages : 168
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Book Description
This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.
Author: Marco Tognon
Publisher:
ISBN: 9783030486600
Category :
Languages : en
Pages : 0
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Book Description
This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction. The formal analysis covers topics ranging from control, state estimation, and motion planning, to experimental validation. Addressing both theoretical and technical aspects, the book is intended for a broad academic and industrial readership, including undergraduate students, researchers and engineers. It can be used as a teaching reference, or as the basis for product development.
Author: Sujit Rajappa
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Author: Yasmina Bestaoui Sebbane
Publisher: Springer
ISBN: 9783319037066
Category : Technology & Engineering
Languages : en
Pages : 0
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Book Description
This book provides an introduction to the emerging field of planning and decision making for aerial robots. An aerial robot is the ultimate form of Unmanned Aerial Vehicle, an aircraft endowed with built-in intelligence, requiring no direct human control and able to perform a specific task. It must be able to fly within a partially structured environment, to react and adapt to changing environmental conditions and to accommodate for the uncertainty that exists in the physical world. An aerial robot can be termed as a physical agent that exists and flies in the real 3D world, can sense its environment and act on it to achieve specific goals. So throughout this book, an aerial robot will also be termed as an agent. Fundamental problems in aerial robotics include the tasks of spatial motion, spatial sensing and spatial reasoning. Reasoning in complex environments represents a difficult problem. The issues specific to spatial reasoning are planning and decision making. Planning deals with the trajectory algorithmic development based on the available information, while decision making determines priorities and evaluates potential environmental uncertainties. The issues specific to planning and decision making for aerial robots in their environment are examined in this book and categorized as follows: motion planning, deterministic decision making, decision making under uncertainty and finally multi-robot planning. A variety of techniques are presented in this book, and a number of relevant case studies are examined. The topics considered in this book are multidisciplinary in nature and lie at the intersection of Robotics, Control Theory, Operational Research and Artificial Intelligence.
Author: IEEE Staff
Publisher:
ISBN: 9781665433907
Category :
Languages : en
Pages :
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Book Description
The Scope includes technologies, functionalities, regulation and safety Issues, applications and education related to aerial manipulation and transportation The technologies are Aerial Manipulation, Soft aerial robots and compliance, Bio inspiration, Teleoperation, Hybrid aerial marine ground, Air ground Air ground marine Air marine interaction, Recharging Refueling, Multi robot cooperation with physical interaction The functionalities include Contact inspection, Transportation, Deployment and retrieval, Co working with humans, Sampling, Cleaning, complex environment exploration There scope also includes regulation and safety issues involving risk analysis and Applications including Infrastructure Inspection and Maintenance, Agriculture, Construction, Environment protection, Fire fighting and Health care Finally, the education includes educational prototypes and software tools
Author: Jean-Christophe Zufferey
Publisher: Epfl Press
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 228
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Book Description
This book demonstrates how bio-inspiration can lead to fully autonomous flying robots without relying on external aids. Most existing aerial robots fly in open skies, far from obstacles, and rely on external beacons, mainly GPS, to localise and navigate. However, these robots are not able to fly at low altitude or in confined environments, and yet this poses absolutely no difficulty to insects. Indeed, flying insects display efficient flight control capabilities in complex environments despite their limited weight and relatively tiny brain size. From sensor suite to control strategies, the lite.
Author: Christos Papachristos
Publisher: Foundations and Trends (R) in Robotics
ISBN: 9781680835489
Category :
Languages : en
Pages : 84
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Book Description
Autonomous aerial systems have recently been at the forefront of robotics research, and currently enjoy a continuously expanding range of applications wherein they are actively utilized. Commonly these are called drones, but this survey of the current state-of-the-art also considers "Micro Aerial Vehicles" in order to emphasize the increasingly advanced levels of autonomy and the small scale of such systems. This monograph provides researchers, engineers and students with a comprehensive overview of core modeling, control, estimation, and planning concepts and approaches for micro aerial robots of the rotorcraft class. A comprehensive description of a set of methods that enable automated flight control, state estimation in GPS-denied environments, as well as path planning techniques for autonomous exploration is also provided, and serves as a holistic point of reference for those interested in the field of unmanned aerial systems. This monograph will be a valuable starting point for researchers and developers working in the exciting area of aerial robots of the rotorcraft class, or drones.
Author: Alejandro Suarez
Publisher:
ISBN: 9783036546384
Category :
Languages : en
Pages : 0
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Book Description
Aerial robots with perception, navigation, and manipulation capabilities are extending the range of applications of drones, allowing the integration of different sensor devices and robotic manipulators to perform inspection and maintenance operations on infrastructures such as power lines, bridges, viaducts, or walls, involving typically physical interactions on flight. New research and technological challenges arise from applications demanding the benefits of aerial robots, particularly in outdoor environments. This book collects eleven papers from different research groups from Spain, Croatia, Italy, Japan, the USA, the Netherlands, and Denmark, focused on the design, development, and experimental validation of methods and technologies for inspection and maintenance using aerial robots.
