Preliminary design, modeling and control of a fully actuated quadrotor UAV

In this paper a preliminary study on a new concept of fully actuated Unmanned Aerial Vehicle (UAV), named ODQuad (OmniDirectional Quadrotor), is presented. By exploiting two additional actuators, the designed UAV can simultaneously modify the tilting angle of all the propellers, in such a way to decouple position and attitude motions. This solution, differently from other fully actuated UAVs with tilted propellers, avoids internal forces and energy dissipation, due to non-parallel propellers’ axes. A preliminary mechanical design and the kinematic and dynamic models are developed. Moreover, a motion control scheme, based on a hierarchical two loop, has been designed. Simulations are provided in order to show the feasibility of the concept and the effectiveness of the control scheme

An adaptive hierarchical control for aerial manipulators

This paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach

Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators

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6D physical interaction with a fully actuated aerial robot

This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geometric control, and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector using an admittance control paradigm. An outer loop control governs the desired admittance behavior and an inner loop based on geometric control ensures pose tracking. The interaction forces are estimated by a momentum based observer. Control and observation are made possible by a precise control and measurement of the speed of each propeller. An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction

Behavioral control of unmanned aerial vehicle manipulator systems

In this paper a behavioral control framework is developed to control an unmanned aerial vehicle-manipulator (UAVM) system, composed by a multirotor aerial vehicle equipped with a robotic arm. The goal is to ensure vehicle-arm coordination and manage complex multi-task missions, where different behaviors must be encompassed in a clear and meaningful way. In detail, a control scheme, based on the null space-based behavioral paradigm, is proposed to handle the coordination between the arm and vehicle motion. To this aim, a set of basic functionalities (elementary behaviors) are designed and combined in a given priority order, in order to attain more complex tasks (compound behaviors). A supervisor is in charge of switching between the compound behaviors according to the mission needs and the sensory feedback. The method is validated on a real testbed, consisting of a multirotor aircraft with an attached 6 Degree of Freedoms manipulator, developed within the EU-funded project ARCAS (Aerial Robotics Cooperative Assembly System). At the the best of authors’ knowledge, this is the first time that an UAVM system is experimentally tested in the execution of complex multi-task missions. The results show that, by properly designing a set of compound behaviors and a supervisor, vehicle-arm coordination in complex missions can be effectively managed

The use and beauty of ultra-high-resolution seismic reflection imaging in Late Quaternary marine volcaniclastic settings, Bay of Naples, Italy

A Nápolyi-öbölben felvett ultra nagy felbontású egycsatornás (IKB-Seistec™) reflexiós szeizmikus szelvények korábbi geológiai és geofizikai vizsgálatok eredményeivel együtt kivételes, eddig soha nem látott felbontású szeizmikus leképezését nyújtják a Flegrei-mezők és a Somma-Vezúv felszín alá süllyedt késő-pleisztocén–holocén rétegtani felépí - tésének. A szeizmikus szelvényeken látott geometria és gravitációs magvevővel nyert üledékek adatainak összevetéséből Campania partközeli kontinentális talapzatán számos olyan üledékes és vulkáni szerkezet, valamint hidrotermális jelenség került leképezésre, melyek a legutolsó glaciális maximum (kb. 18 000 év) óta keletkeztek. A Pozzuoli-öbölben mért Seistec szelvények jól mutatják a beomlott kaldera gyűrűs vetőjét, a kb. 15 ezer éves Nápolyi Sárga Tufa (NYT) lerakódáshoz vezető kitöréskor felújuló boltozatot, és alátámasztják a deformáció későnegyedidőszaki korára és stílusára vonatkozó hipotéziseket. A szeizmikus szelvényeken látható a NYT rétegeinek töréses szerkezete, valamint hidrotermális fluidum-feláramlások és vulkáni/szubvulkáni intrúziók a gyűrűs vetők mentén. A Somma-Vezúv rétegvulkán előterében a kontinentális talapzat felett mért szeizmikus szelvények leképezték a Vezúv i.sz. 79-es kitörésekor Herculaneum városát elpusztító piroklaszt-ár tengervízbe érésekor keletkező, gravitációsan összeomló homokhullámok szerkezetét is. A Somma-Vezúv és a Pozzuoli-öböl közti, buckás felszínű Banco della Montagna területén mért szelvények és fúrómagok vulkanoklasztos diapírok sorát tárták fel. Ezeket a konszolidálatlan horzsakőből álló testeket a fluidum - feláramlás és aktív kigázosodás hatására kialakult mélybeli túlnyomás hozta fel a tengerfenékre.Very high-resolution, single channel (IKB-Seistec™) reflection seizmic profiles acquired in the Bay of Naples, com - plemented with geological and geophysical data from the literature, provide unprecedented, superb seismic imaging of the latest Pleistocene–Holocene stratigraphic architecture of the submerged sectors Campi Flegrei and Somma-Vesuvius volcanic districts. Seismic profiles were calibrated by gravity core data and document a range of depositional systems, volcanic structures and hydrothermal features that evolved after the onset of the Last Glacial Maximum (~ 18 ka BP) over the continental shelf on the Campania coastal zone. Seistec profiles from the Pozzuoli Bay yield high-resolution images of the shallow structure of the collapse caldera-ring fault — resurgent dome system associated with the eruption of the Neapolitan Yellow Tuff (NYT) (ca 15 ka) and support a working hypothesis to assess the timing and the styles of deformation of the NYT resurgent structure throughout the latest Quaternary. Seismic images also revealed the nature of the fragile deformation of strata along the NYT ring fault system and the occurrence of hydrothermal fluids and volcanic/subvolcanic intrusions ascending along the ring fault zone. Seismic data acquired over the continental shelf off the Somma-Vesuvius stratovolcano, display evidence of gravit - ational instability of wavy bedforms representing the submarine prosecution of pyroclastic flows originated from the Vesuvius during the eruption that destroyed the Roman city of Herculaneum in 79 CE. At the Banco della Montagna, a hummocky seafloor knoll located between the Somma-Vesuvius and the Pozzuoli Bay, seismic profiles and gravity core data revealed the occurrence of a field of volcaniclastic diapirs formed by the dragging and rising up of unconsolidated pumice, as a consequence of fluid overpressure at depth associated with active degassing and fluid venting at the seafloor

Storia e caratteristiche del progetto multicentrico di ricerca "International Self - Report Delinquency Study": il contributo della Criminologia italiana

The present paper reviews the history, the principal characteristics, the recent evolutions and the objectives of the international multi-centric study on juvenile self-report delinquency and victimization called ISRD, and describes the contribution of Italian criminology to the project. The most important international results of the first two waves of the research (ISRD 1 and ISRD2), and the innovations introduced in the planning of the third wave (ISRD3) are also described: The collection of data has been concluded in Italy, but not in all the 35 countries participating to the study