Supervised Control of a Flying Performing Robot using its Intrinsic Sound

We present the current results of our ongoing research in achieving efficient control of a flying robot for a wide variety of possible applications. A lightweight small indoor helicopter has been equipped with an embedded system and relatively simple sensors to achieve autonomous stable flight. The controllers have been tuned using genetic algorithms to further enhance flight stability. A number of additional sensors would need to be attached to the helicopter to enable it to sense more of its environment such as its current location or the location of obstacles like the walls of the room it is flying in. The lightweight nature of the helicopter very much restricts the amount of sensors that can be attached to it. We propose utilising the intrinsic sound signatures of the helicopter to locate it and to extract features about its current state, using another supervising robot. The analysis of this information is then sent back to the helicopter using an uplink to enable the helicopter to further stabilise its flight and correct its position and flight path without the need for additional sensors

Intelligent control of miniature holonomic vertical take-off and landing robot

This paper discusses the development of a fuzzy based controller for miniaturized unmanned aerial vehicle (UAV).This controller is designed to control the center-of-gravity (CoG) in a new configuration of coaxial miniaturized flying robot (MFR). The idea is to shift the CoG by controlling two pendulums located in perpendicular directions; each pendulum ends with a small mass. A key feature of this work is that the control algorithm represents the original nonlinear function that describes the dynamics of the proposed system. The controller model incorporates two cascaded subsystems: PD and PI fuzzy logic controllers. These two controllers regulate the attitude and the position of the flying robot, respectively. A model of the proposed controllers has been developed and evaluated in terms of stability and maneuverability. The results show that the presented control system can be used efficiently for the MFR applications

Aerial Manipulation: A Literature Review

Aerial manipulation aims at combining the versatil- ity and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well

Investigate how construction waste generation rate is, different for every types of project in peninsular Malaysia, using site visit method

Malaysia is a rapid development of its urban centre, and where construction and demolition (C&D) waste generation is increasing proportionally with the new construction industry development. In Malaysia, the most crucial issue highlighted by local researchers is excessive of C&D waste generation. The transfer of construction and demolition waste at landfills has brought about major ecological concerns and government sources demonstrate that there is an intense lack of landfill space in Malaysia. The aim of this study is to investigate the construction waste generation rate in Malaysia due to different project types. To obtain the waste generation rate, construction sites visit is required. In construction site, direct and indirect approaches were utilized to collect C&D waste generation data based on data available. For the construction waste generation rate, nonresidential projects obtained smallest value such as 0.008 t/m2 while residential projects obtained highest value such as 0.016 t/m2. Social amenities obtained 0.010 t/m2 of waste generation rate. Waste generation rate is different compare to waste generation due to projects sizes. Waste generation rate shows the actual waste generation for every projects type based on gross floor area. The gross floor area is important parts need to be considered during waste generation which provide actual waste generation data. Waste generation rate plays an important role to measure waste generation for every type of projects. This study, will be very much beneficial for contractors and clients to control the construction waste in construction site and to identify efficiencies of projects using waste generation rate. Besides that, provide a generation rate on construction waste to the Government for control the waste and reduce illegal dumping in future