Model Based Control Of Flying Robots For Robust Interaction Under Wind Influence

Author : Teodor Tomić
Publisher : Springer Nature
Page : 168 pages
File Size : 45,9 Mb
Release : 2022-10-07
Category : Technology & Engineering
ISBN : 9783031153938

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Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence by Teodor Tomić Pdf

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 : Karen Bodie,Maximilian Brunner,Mike Allenspach
Publisher : Springer Nature
Page : 230 pages
File Size : 46,7 Mb
Release : 2024-01-21
Category : Technology & Engineering
ISBN : 9783031454974

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Omnidirectional Tilt-Rotor Flying Robots for Aerial Physical Interaction by Karen Bodie,Maximilian Brunner,Mike Allenspach Pdf

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 : Marco Tognon,Antonio Franchi
Publisher : Springer Nature
Page : 172 pages
File Size : 45,6 Mb
Release : 2020-06-26
Category : Technology & Engineering
ISBN : 9783030486594

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Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers by Marco Tognon,Antonio Franchi Pdf

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 : Nancy M. Amato,Greg Hager,Shawna Thomas,Miguel Torres-Torriti
Publisher : Springer Nature
Page : 1058 pages
File Size : 49,5 Mb
Release : 2019-11-28
Category : Technology & Engineering
ISBN : 9783030286194

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Robotics Research by Nancy M. Amato,Greg Hager,Shawna Thomas,Miguel Torres-Torriti Pdf

ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.

Author : Jean-Christophe Zufferey
Publisher : EPFL Press
Page : 226 pages
File Size : 54,7 Mb
Release : 2008-04-24
Category : Technology & Engineering
ISBN : 1420066846

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Bio-inspired Flying Robots by Jean-Christophe Zufferey Pdf

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 literature on flying insects is reviewed from an engineering perspective in order to extract useful principles that are then applied to the synthesis of artificial indoor flyers. Artificial evolution is also utilised to search for alternative control systems and behaviors that match the constraints of small flying robots. Specifically, the basic sensory modalities of insects, vision, gyroscopes and airflow sense, are applied to develop navigation controllers for indoor flying robots. These robots are capable of mapping sensor information onto actuator commands in real time to maintain altitude, stabilize the course and avoid obstacles. The most prominent result of this novel approach is a 10-gram microflyer capable of fully autonomous operation in an office-sized room using fly-inspired vision, inertial and airspeed sensors. This book is intended for all those interested in autonomous robotics, in academia and industry.

Author : Josep M. Guerrero,Rogelio Lozano
Publisher : John Wiley & Sons
Page : 279 pages
File Size : 41,8 Mb
Release : 2012-12-17
Category : Technology & Engineering
ISBN : 9781118563229

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Flight Formation Control by Josep M. Guerrero,Rogelio Lozano Pdf

In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

Author : Anonim
Publisher : Unknown
Page : 994 pages
File Size : 50,6 Mb
Release : 1995
Category : Aeronautics
ISBN : UIUC:30112050127296

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Scientific and Technical Aerospace Reports by Anonim Pdf

Author : Yasmina Bestaoui Sebbane
Publisher : CRC Press
Page : 216 pages
File Size : 54,5 Mb
Release : 2022-02-23
Category : Computers
ISBN : 9781000543070

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A First Course in Aerial Robots and Drones by Yasmina Bestaoui Sebbane Pdf

A First Course in Aerial Robots and Drones provides an accessible and student friendly introduction to aerial robots and drones. Drones figure prominently as opportunities for students to learn various aspects of aerospace engineering and design. Drones offer an enticing entry point for STEM studies. As the use of drones in STEM studies grows, there is an emerging generation of drone pilots who are not just good at flying, but experts in specific niches, such as mapping or thermography. Key Features: Focuses on algorithms that are currently used to solve diverse problems. Enables students to solve problems and improve their science skills. Introduces difficult concepts with simple, accessible examples. Suitable for undergraduate students, this textbook provides students and other readers with methods for solving problems and improving their science skills.

Author : Farrokh Janabi-Sharifi,William Melek
Publisher : Springer
Page : 127 pages
File Size : 48,9 Mb
Release : 2019-06-15
Category : Technology & Engineering
ISBN : 9783030173692

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Advances in Motion Sensing and Control for Robotic Applications by Farrokh Janabi-Sharifi,William Melek Pdf

This book reports on advances in sensing, modeling and control methods for different robotic platforms such as multi-degree of freedom robotic arms, unmanned aerial vehicles and autonomous mobile platforms. Based on 2018 Symposium on Mechatronics, Robotics, and Control (SMTRC’18), held as part of the 2018 CSME International Congress, in York University, Toronto, Canada, the book covers a variety of topics, from filtering and state estimation to adaptive control of reconfigurable robots and more. Next-generation systems with advanced control, planning, perception and interaction capabilities will achieve functionalities far beyond today’s technology. Two key challenges remaining for advanced robot technologies are related to sensing and control in robotic systems. Advanced perception is needed to navigate changing environments. Adaptive and intelligent control systems must be developed to enable operation in unstructured and dynamic environments. The selected chapters in this book focus on both of the aforementioned areas and highlight the main trends and challenges in robot sensing and control. The first part of the book introduces chapters which focus on advanced perception and sensing for robotics applications. They include sensor filtering and state estimation for bipedal robots and motion capture systems analysis. The second part focuses on different modeling and control methods for robotic systems including flight control for UAVs, multi-variable robust control for modular and reconfigurable robotics and control for precision micromanipulation.

Author : Dario Floreano,Jean-Christophe Zufferey,Mandyam V. Srinivasan,Charlie Ellington
Publisher : Springer
Page : 0 pages
File Size : 46,9 Mb
Release : 2014-11-26
Category : Technology & Engineering
ISBN : 3642426913

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Flying Insects and Robots by Dario Floreano,Jean-Christophe Zufferey,Mandyam V. Srinivasan,Charlie Ellington Pdf

Flying insects are intelligent micromachines capable of exquisite maneuvers in unpredictable environments. Understanding these systems advances our knowledge of flight control, sensor suites, and unsteady aerodynamics, which is of crucial interest to engineers developing intelligent flying robots or micro air vehicles (MAVs). The insights we gain when synthesizing bioinspired systems can in turn benefit the fields of neurophysiology, ethology and zoology by providing real-life tests of the proposed models. This book was written by biologists and engineers leading the research in this crossdisciplinary field. It examines all aspects of the mechanics, technology and intelligence of insects and insectoids. After introductory-level overviews of flight control in insects, dedicated chapters focus on the development of autonomous flying systems using biological principles to sense their surroundings and autonomously navigate. A significant part of the book is dedicated to the mechanics and control of flapping wings both in insects and artificial systems. Finally hybrid locomotion, energy harvesting and manufacturing of small flying robots are covered. A particular feature of the book is the depth on realization topics such as control engineering, electronics, mechanics, optics, robotics and manufacturing. This book will be of interest to academic and industrial researchers engaged with theory and engineering in the domains of aerial robotics, artificial intelligence, and entomology.

Author : Farbod Fahimi
Publisher : Springer Science & Business Media
Page : 349 pages
File Size : 46,6 Mb
Release : 2008-10-25
Category : Technology & Engineering
ISBN : 9780387095387

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Autonomous Robots by Farbod Fahimi Pdf

It is at least two decades since the conventional robotic manipulators have become a common manufacturing tool for different industries, from automotive to pharmaceutical. The proven benefits of utilizing robotic manipulators for manufacturing in different industries motivated scientists and researchers to try to extend the applications of robots to many other areas by inventing several new types of robots other than conventional manipulators. The new types of robots can be categorized in two groups; redundant (and hyper-redundant) manipulators, and mobile (ground, marine, and aerial) robots. These groups of robots, known as advanced robots, have more freedom for their mobility, which allows them to do tasks that the conventional manipulators cannot do. Engineers have taken advantage of the extra mobility of the advanced robots to make them work in constrained environments, ranging from limited joint motions for redundant (or hyper-redundant) manipulators to obstacles in the way of mobile (ground, marine, and aerial) robots. Since these constraints usually depend on the work environment, they are variable. Engineers have had to invent methods to allow the robots to deal with a variety of constraints automatically. A robot that is equipped with those methods is called an Autonomous Robot. Autonomous Robots: Kinematics, Path Planning, and Control covers the kinematics and dynamic modeling/analysis of Autonomous Robots, as well as the methods suitable for their control. The text is suitable for mechanical and electrical engineers who want to familiarize themselves with methods of modeling/analysis/control that have been proven efficient through research.

Author : Zhihua Qu,D. M. Dawson
Publisher : Institute of Electrical & Electronics Engineers(IEEE)
Page : 0 pages
File Size : 45,5 Mb
Release : 1996
Category : Robots
ISBN : 0780310659

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Robust Tracking Control of Robot Manipulators by Zhihua Qu,D. M. Dawson Pdf

Bringing together the latest research in the field, Robust Tracking Control of Robot Manipulators is the first book to provide systematic methods for stabilizing unwanted flexible, uncertain, and unmodeled dynamics. The authors present a thorough comparison of state-of-the-art and classical designs of all controls: linear or nonlinear (simple or complicated), conventional or robust, adaptive or learning. Focusing on control design and performance analysis, this book will help you to apply advanced controls effectively and to establish equivalent and different robustness. This book will be invaluable as a guide to researchers and practicing engineers in the field of robot control, automation, and robotic engineering. It will also serve as a useful reference for control of robot manipulators and mechanical-electrical systems.

Author : Anonim
Publisher : Unknown
Page : 1042 pages
File Size : 51,5 Mb
Release : 1999
Category : Aeronautics
ISBN : STANFORD:36105021810408

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International Aerospace Abstracts by Anonim Pdf

Author : Michel Fathi,Enrico Zio,Panos M. Pardalos
Publisher : Springer Nature
Page : 3382 pages
File Size : 40,9 Mb
Release : 2023-08-04
Category : Business & Economics
ISBN : 9783030979409

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Handbook of Smart Energy Systems by Michel Fathi,Enrico Zio,Panos M. Pardalos Pdf

This handbook analyzes and develops methods and models to optimize solutions for energy access (for industry and the general world population alike) in terms of reliability and sustainability. With a focus on improving the performance of energy systems, it brings together state-of-the-art research on reliability enhancement, intelligent development, simulation and optimization, as well as sustainable development of energy systems. It helps energy stakeholders and professionals learn the methodologies needed to improve the reliability of energy supply-and-demand systems, achieve more efficient long-term operations, deal with uncertainties in energy systems, and reduce energy emissions. Highlighting novel models and their applications from leading experts in this important area, this book will appeal to researchers, students, and engineers in the various domains of smart energy systems and encourage them to pursue research and development in this exciting and highly relevant field.

Author : Kenzo Nonami,Farid Kendoul,Satoshi Suzuki,Wei Wang,Daisuke Nakazawa
Publisher : Springer Science & Business Media
Page : 341 pages
File Size : 52,9 Mb
Release : 2010-09-15
Category : Technology & Engineering
ISBN : 9784431538561

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Autonomous Flying Robots by Kenzo Nonami,Farid Kendoul,Satoshi Suzuki,Wei Wang,Daisuke Nakazawa Pdf

The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.