4 research outputs found
Model Based Optimization and Definition in an Integrated Engineering Design Approach: A Case Study
A Thesis Presented to the Faculty of the College of Business and Technology Morehead State University in Partial Fulfillment of the Requirements for the Degree Master of Science by Caiwu Ding on June 24, 2016
Design and control of next-generation uavs for effectively interacting with environments
In this dissertation, the design and control of a novel multirotor for aerial manipulation is studied, with the aim of endowing the aerial vehicle with more degrees of freedom of motion and stability when interacting with the environments. Firstly, it presents an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. The effectiveness of this method is demonstrated through simulation. Secondly, a humanoid robot arm is adopted to serve as a 6-degree-of-freedom (DOF) automated flight testing platform for emulating the free flight environment of UAVs while ensuring safety. Another novel multirotor in a tilt-rotor architecture is studied and tested for coping with parametric uncertainties in aerial maneuvering and manipulation. Two pairs of rotors are mounted on two independently-controlled tilting arms placed at two sides of the vehicle in a H configuration to enhance its maneuverability and stability through an adaptive robust control method. In addition, an impedance control algorithm is deployed in the out loop that modifies the trajectory to achieve a compliant behavior in the end-effector space for aerial drilling and screwing tasks
Aerial Manipulation Using a Novel Unmanned Aerial Vehicle Cyber-Physical System
Unmanned Aerial Vehicles(UAVs) are attaining more and more maneuverability
and sensory ability as a promising teleoperation platform for intelligent
interaction with the environments. This work presents a novel
5-degree-of-freedom (DoF) unmanned aerial vehicle (UAV) cyber-physical system
for aerial manipulation. This UAV's body is capable of exerting powerful
propulsion force in the longitudinal direction, decoupling the translational
dynamics and the rotational dynamics on the longitudinal plane. A high-level
impedance control law is proposed to drive the vehicle for trajectory tracking
and interaction with the environments. In addition, a vision-based real-time
target identification and tracking method integrating a YOLO v3 real-time
object detector with feature tracking, and morphological operations is proposed
to be implemented onboard the vehicle with support of model compression
techniques to eliminate latency caused by video wireless transmission and heavy
computation burden on traditional teleoperation platforms.Comment: Newsletter of IEEE Technical Committee on Cyber-Physical System