Active Tethered Hook: Heavy Load Movement using Hooks that Move Actively with Micro UAVs and Winch System

Kominami, Takamasa; Paul, Hannibal; Miyazaki, Ryo; Sumetheeprasit, Borwonpob; Ladig, Robert; Shimonomura, Kazuhiro

doi:10.1109/aim46487.2021.9517518

Cited by 3 publications

(3 citation statements)

References 16 publications

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“…Stable and accurate performance is noticed in both cases, where the UAV is able to successfully drive the buoy at the desired velocity (u b ), while maintaining good tracking of the reference elevation (α) and azimuth (ϕ) angles. As seen in the (r) subplot, the UAV first positions itself near the pulling location, it then enters the pulling state by making the cable taut during the entire duration of the buoy's manipulation between [12,100] s. Since there are no ambient waves in C1, there is no apparent fluctuation in the buoy's vertical position (z b ), immersed volume ( b ), and elevation angle (α); contrarily, the waves in C2 induce fluctuations in these three states. It is noted that the UAV keeps a level flight in both cases, as seen in the (z u ) subplot in Fig.…”

Section: Simulation Results and Discussionmentioning

confidence: 99%

“…A practical example of force transmission is found in [18], where the transportation of a payload is cooperative performed by a team of UAVs, which was made possible through calculation of the required wrench set. The clever use of a tether even allowed a single UAV to lift a heavy object after hooking itself at high ground then activating its on-board winch [12]. Furthermore, a UAV was employed in [14] to manipulate a floating object's surge velocity by means of tether in a 2D space (vertical plane), even in the presence of waves and water currents.…”

Section: Introductionmentioning

confidence: 99%

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Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Kourani

Daher

2021

Preprint

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This work presents the nonlinear dynamical model and motion controller of a system consisting of an unmanned aerial vehicle (UAV) that is tethered to a floating buoy in the three-dimensional (3D) space. Detailed models of the UAV, buoy, and the coupled tethered system dynamics are presented in a marine environment that includes surface-water currents and oscillating gravity waves, in addition to wind gusts. This work extends the previously modeled planar (vertical) motion of this novel robotic system to allow its free motion in all three dimensions. Furthermore, a Directional Surge Velocity Control System (DSVCS) is hereby proposed to allow both the free movement of the UAV around the buoy when the cable is slack, and the manipulation of the buoy’s surge velocity when the cable is taut. Using a spherical coordinate system centered at the buoy, the control system commands the UAV to apply forces on the buoy at specific azimuth and elevation angles via the tether, which yields a more appropriate realization of the control problem as compared to the Cartesian coordinates where the traditional x- , y- , and z -coordinates do not intuitively describe the tether’s tension and orientation. The proposed robotic system and controller offer a new method of interaction and collaboration between UAVs and marine systems from a locomotion perspective. The system is validated in a virtual high-fidelity simulation environment, which was specifically developed for this purpose, while considering various settings and wave scenarios.

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Section: Simulation Results and Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Kourani

Daher

2021

Preprint

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“…Between the publications that used some kind of onboard camera as the main perception sensor, there were some that only described their sensor as a camera [8,56,100,110,113,117], monocular camera [39] or electro-optical pod [189]. Other papers described the model of the camera used, such as the Foxeer Predator V4 [21], the Kinect [89], Realsense D435 [49] or the RecognitSys support module [181]. Installing motion capture camera systems in the environment externally to the UAV is another option for perceiving the UAV and the tether [20,23,24,30,33,44,50,53,60,91].…”

Section: Simulationmentioning

confidence: 99%

Tethered Unmanned Aerial Vehicles—A Systematic Review

et al. 2023

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In recent years, there has been a remarkable surge in the development and research of tethered aerial systems, thus reflecting a growing interest in their diverse applications. Long-term missions involving aerial vehicles present significant challenges due to the limitations of current battery solutions. Tethered vehicles can circumvent such restrictions by receiving their power from an element on the ground such as a ground station or a mobile terrestrial platform. Tethered Unmanned Aerial Vehicles (UAVs) can also be applied to load transportation achieved by a single or multiple UAVs. This paper presents a comprehensive systematic literature review, with a special focus on solutions published in the last five years (2017–2022). It emphasizes the key characteristics that are capable of grouping publications by application scope, propulsion method, energy transfer solution, perception sensors, and control techniques adopted. The search was performed in six different databases, thereby resulting in 1172 unique publications, from which 182 were considered for inclusion in the data extraction phase of this review. Among the various aircraft types, multirotors emerged as the most widely used category. We also identified significant variations in the application scope of tethered UAVs, thus leading to tailored approaches for each use case, such as the fixed-wing model being predominant in the wind generation application and the lighter-than-air aircraft in the meteorology field. Notably, the classical Proportional–Integral–Derivative (PID) control scheme emerged as the predominant control methodology across the surveyed publications. Regarding energy transfer techniques, most publications did not explicitly describe their approach. However, among those that did, high-voltage DC energy transfer emerged as the preferred solution. In summary, this systematic literature review provides valuable insights into the current state of tethered aerial systems, thereby showcasing their potential as a robust and sustainable alternative to address the challenges associated with long-duration aerial missions and load transportation.

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Three-dimensional modeling of a tethered UAV–buoy system with relative-positioning and directional surge velocity control

Kourani

Daher

2022

Nonlinear Dyn

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Active Tethered Hook: Heavy Load Movement using Hooks that Move Actively with Micro UAVs and Winch System

Cited by 3 publications

References 16 publications

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Tethered Unmanned Aerial Vehicles—A Systematic Review

Three-dimensional modeling of a tethered UAV–buoy system with relative-positioning and directional surge velocity control

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