1,489 research outputs found
Novel Reconfigurable Delta Robot Dual-Functioning as Adaptive Landing Gear and Manipulator
In this work a novel dual-functioning rotorcraft undercarriage is developed. The design is a reconfigurable delta robot which allows for transformation between Adaptive Landing Gear for vertical take-off and landing and 3DOF Aerial Manipulation mode. To reconfigure between operation modes without reaching singularities, a guideline to find a singularity-free geometry is presented. An adaptive landing control was developed and validated on a test-stand. For the 3DOF manipulation of the delta-structure, a third-order smooth trajectory was presented and integrated. The prototype, also depicted in the accompanying video, is then presented in free flight experiments demonstrating the advantages of the dual-functioning system
Re-configurable Mechatronic Platform
To meet the increasing need of the multi-disciplinary engineering education and to provide a re-configurable mechatronic experiment platform, the team seeks to plan, design, and validate a mechatronic platform that allows simple model re-assembling and re-configuration. This platform also employs the concept of modular and expandable design. It consists of re-configurable mechanical structures, diverse sensor applications, microcontroller and motor controller control system, and graphical user interfaces on PC terminal for multi-disciplinary learning experience
The infrared imaging spectrograph (IRIS) for TMT: on-instrument wavefront sensors and NFIRAOS interface
The InfraRed Imaging Spectrograph (IRIS) is a first light client science
instrument for the TMT observatory that operates as a client of the NFIRAOS
facility multi-conjugate adaptive optics system. This paper reports on the
concept study and baseline concept design of the On-Instrument WaveFront
Sensors (OIWFS) and NFIRAOS interface subsystems of the IRIS science
instrument, a collaborative effort by NRC-HIA, Caltech, and TMT AO and
Instrument teams. This includes work on system engineering, structural and
thermal design, sky coverage modeling, patrol geometry, probe optics and
mechanics design, camera design, and controls design.Comment: 17 pages, 12 figures, SPIE7735-28
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