Quasi-stationary state transportation of a hose with quadrotors

Sanz, Julio Jesús Acero; López-Guede, José Manuel; Graña, Manuel

doi:10.1016/j.robot.2014.09.004

Cited by 32 publications

(15 citation statements)

References 30 publications

(30 reference statements)

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“…Perching, as described in [12], [90], is another application that can help MUAVs save and/or restore energy and quickly place sensors in a given environment. Another interesting mission was realized in [91] in which a team of quadcopters was employed to transport a hose, where the hose was considered as a deformable linear object. More specifically, catenary curves were used in dynamic modeling of the hose which result in fast computation of the forces exerted to the quadcopters and, in turn, make realtime implementation possible.…”

Section: Aerial Manipulation Missionsmentioning

confidence: 99%

Estimation and control of a manipulating unmanned aerial vehicle

Khamseh¹

2021

Preprint

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A Manipulating Unmanned Aerial Vehicle (MUAV) is an aerial platform equipped with a mechanism to physically interact with its environment. The interaction is realized by means of robotic arm(s), vehicle body or suspension cable(s) and enables a wide range of novel applications including perching, grasping, pick–and–place, load transportation, etc. However, this is a challenging task as MUAVs are inherently unstable platforms with highly nonlinear and coupled dynamics, often associated with moving parts that result in complex modelling, estimation and control problems. This thesis deals with the problem of estimation and control of MUAVs. First, a comprehensive literature survey covering various aspects of MUAVs such as those related to modelling, estimation and control is presented. In the first approach for MUAV state estimation and control, effects of robotic manipulator on Unmanned Aerial Vehicle (UAV) dynamic equations of motion is treated by adding process noise with unknown noise statistics to conventional UAV dynamic model. With that in mind, state estimating and control of a UAV by means of conventional Kalman filters and their adaptive counterparts are formulated. Having designed Linear Quadratic Regulator (LQR) laws, it is shown that adaptive Kalman filters provide accurate satisfactory estimation and overall control of a UAV, even with simultaneous uncertain process and measurement noise statistics. Next, in order to improve the estimation and overall control performance of the previous approach, full nonlinear and coupled dynamic modelling of a MUAV based on Euler–Lagrange formulation is presented. Then, a General Unscented Kalman Filter (GUKF) is proposed to accomplish full state estimation of a MUAV, along with LQR control laws. Finally, in order to improve the execution time of GUKF, a computationally–efficient UKF known as Scaled Spherical UKF (SSUKF) with estimation and overall control performance comparable to GUKF is formulated. It is shown that both UKF–based algorithms result in satisfactory estimation and setpoint/trajectory tracking of quadcopter UAV and its robotic manipulator, even in scenarios with increased noise level and a period of total outage of sensory data.

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Section: Aerial Manipulation Missionsmentioning

confidence: 99%

Estimation and control of a manipulating unmanned aerial vehicle

Khamseh¹

2021

Preprint

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“…A recent study showed that drone delivery could help reduce the greenhouse gases [12]. Aerial platforms can also transport deformable linear objects such as hose, or ropes [13]. A demonstration of building a rope bridge using multi-rotors is shown in [14].…”

Section: Introductionmentioning

confidence: 99%

A Survey of Single and Multi-UAV Aerial Manipulation

Mohiuddin

Taha²,

Zweiri

et al. 2020

Un. Sys.

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Aerial manipulation has direct application prospects in environment, construction, forestry, agriculture, search, and rescue. It can be used to pick and place objects and hence can be used for transportation of goods. Aerial manipulation can be used to perform operations in environments inaccessible or unsafe for human workers. This paper is a survey of recent research in aerial manipulation. The aerial manipulation research has diverse aspects, which include the designing of aerial manipulation platforms, manipulators, grippers, the control of aerial platform and manipulators, the interaction of aerial manipulator with the environment, through forces and torque. In particular, the review paper presents the survey of the airborne platforms that can be used for aerial manipulation including the new aerial platforms with aerial manipulation capability. We also classified the aerial grippers and aerial manipulators based on their designs and characteristics. The recent contributions regarding the control of the aerial manipulator platform is also discussed. The environment interaction of aerial manipulators is also surveyed which includes, different strategies used for end-effectors interaction with the environment, application of force, application of torque and visual servoing. A recent and growing interest of researchers about the multi-UAV collaborative aerial manipulation was also noticed and hence different strategies for collaborative aerial manipulation are also surveyed, discussed and critically analyzed. Some key challenges regarding outdoor aerial manipulation and energy constraints in aerial manipulation are also discussed.

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“…In particular, with the increase in speed and size of aircraft, there are many studies in the high Reynolds number range with Reynolds number of 10 6 or more, where Reynolds number (Re) is based on flight velocity and airfoil chord length. On the other hand, in recent years, micro-sized unmanned aerial vehicles (UAVs) or micro air vehicles (MAVs) have been widely used in various places such as performing tasks in confined spaces or in hazardous environments, being a sensor for disaster investigation and photography, and payload delivery services [1][2][3]. A most recent investigation showed that the greenhouse emissions resulted from the freight industry might be significantly reduced by UAVs and MAVs delivery [4].…”

Section: Introductionmentioning

confidence: 99%

Numerical Investigation of the Aerodynamic Characteristics and Attitude Stability of a Bio-Inspired Corrugated Airfoil for MAV or UAV Applications

Tang

Lei

et al. 2019

Energies

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In this study, two-dimensional (2D) and three-dimensional (3D) numerical calculations were conducted to investigate the aerodynamic characteristics, especially the unsteady aerodynamic characteristics and attitude stability of a bio-inspired corrugated airfoil compared with a smooth-surfaced airfoil (NACA2408 airfoil) at the chord Reynolds number of 4000 to explore the potential applications of non-traditional, corrugated dragonfly airfoils for micro air vehicles (MAVs) or micro-sized unmanned aerial vehicles (UAVs) designs. Two problem settings were applied to our numerical calculations. First, the airfoil was fixed at a constant angle of attack to analyze the aerodynamic characteristics and the hydrodynamic moment. Second, the angle of attack of airfoils was passively changed by the fluid force to analyze the attitude stability. The current numerical solver for the flow field around an unsteady rotating airfoil was validated against the published numerical data. It was confirmed that the corrugated airfoil performs (in terms of the lift-to-drag ratio) much better than the profiled NACA2408 airfoil at low Reynolds number R e = 4000 in low angle of attack range of 0 ∘ – 6 ∘ , and performs as well at the angle of attack of 6 ∘ or more. At these low angles of attack, the corrugated airfoil experiences an increase in the pressure drag and decrease in shear drag due to recirculation zones inside the cavities formed by the pleats. Furthermore, the increase in the lift for the corrugated airfoil is due to the negative pressure produced at the valleys. It was found that the lift and drag in the 2D numerical calculation are strong fluctuating at a high angle of attacks. However, in 3D simulation, especially for a 3D corrugated airfoil with unevenness in the spanwise direction, smaller fluctuations and the smaller average value in the lift and drag were obtained than the results in 2D calculations. It was found that a 3D wing with irregularities in the spanwise direction could promote three-dimensional flow and can suppress lift fluctuations even at high angles of attack. For the attitude stability, the corrugated airfoil is statically more unstable near the angle of attack of 0 ∘ , has a narrower static stable range of the angle of attack, and has a larger amplitude of fluctuations of the angle of attack compared with the profiled NACA2408 airfoil. Based on the Routh–Hurwitz stability criterion, it was confirmed that the control systems of the angle of attack passively changed by the fluid force for both two airfoils are unstable systems.

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Quasi-stationary state transportation of a hose with quadrotors

Cited by 32 publications

References 30 publications

Estimation and control of a manipulating unmanned aerial vehicle

Estimation and control of a manipulating unmanned aerial vehicle

A Survey of Single and Multi-UAV Aerial Manipulation

Numerical Investigation of the Aerodynamic Characteristics and Attitude Stability of a Bio-Inspired Corrugated Airfoil for MAV or UAV Applications

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