Download or read book Model Based Control of Flying Robots for Robust Interaction Under Wind Influence written by Teodor Tomić and published by Springer Nature. This book was released on 2022-10-07 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.
Download or read book Design Modeling and Control of Aerial Robots for Physical Interaction and Manipulation written by Burak Yüksel and published by Logos Verlag Berlin GmbH. This book was released on 2017-06-10 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.
Download or read book Omnidirectional Tilt Rotor Flying Robots for Aerial Physical Interaction written by Karen Bodie and published by Springer Nature. This book was released on 2024-01-21 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the study of tilt-rotor omnidirectional aerial robots and their application to aerial physical interaction tasks. Omnidirectional aerial robots possess decoupled translational and rotational dynamics, which are important for stable and sustained aerial interaction. The additional ability to dynamically re-orient thrust vectors opens the door to a wide array of possible morphologies and system capabilities. Through modeling, control, prototype design, and experimental evaluation, this book presents a comprehensive methodology and examples for the development of a novel tilt-rotor aerial manipulator. This work serves as a guide for envisioning and constructing innovative systems that will advance the frontier of aerial manipulation.
Download or read book Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers written by Marco Tognon and published by Springer Nature. This book was released on 2020-06-26 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction. The formal analysis covers topics ranging from control, state estimation, and motion planning, to experimental validation. Addressing both theoretical and technical aspects, the book is intended for a broad academic and industrial readership, including undergraduate students, researchers and engineers. It can be used as a teaching reference, or as the basis for product development.
Download or read book Robotics Research written by Nancy M. Amato and published by Springer Nature. This book was released on 2019-11-28 with total page 1058 pages. Available in PDF, EPUB and Kindle. Book excerpt: ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
Download or read book Bio inspired Flying Robots written by Jean-Christophe Zufferey and published by CRC Press. This book was released on 2008-04-24 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book demonstrates how bio-inspiration can lead to fully autonomous flying robots without relying on external aids. Most existing aerial robots fly in open skies, far from obstacles, and rely on external beacons, mainly GPS, to localise and navigate. However, these robots are not able to fly at low altitude or in confined environments, and
Download or read book Flight Formation Control written by Josep M. Guerrero and published by John Wiley & Sons. This book was released on 2012-12-17 with total page 279 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.
Download or read book A First Course in Aerial Robots and Drones written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2022-02-23 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: A First Course in Aerial Robots and Drones provides an accessible and student friendly introduction to aerial robots and drones. Drones figure prominently as opportunities for students to learn various aspects of aerospace engineering and design. Drones offer an enticing entry point for STEM studies. As the use of drones in STEM studies grows, there is an emerging generation of drone pilots who are not just good at flying, but experts in specific niches, such as mapping or thermography. Key Features: Focuses on algorithms that are currently used to solve diverse problems. Enables students to solve problems and improve their science skills. Introduces difficult concepts with simple, accessible examples. Suitable for undergraduate students, this textbook provides students and other readers with methods for solving problems and improving their science skills.
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 994 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Download or read book Energy based Modeling and Control of Interactive Aerial Robots written by Ramy Rashad and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Aerial Robots written by Omar D Lopez Mejia and published by BoD – Books on Demand. This book was released on 2017-09-06 with total page 196 pages. Available in PDF, EPUB and Kindle. Book excerpt: Few years ago, the topic of aerial robots was exclusively related to the robotics community, so a great number of books about the dynamics and control of aerial robots and UAVs have been written. As the control technology for UAVs advances, the great interaction that exists between other systems and elements that are as important as control such as aerodynamics, energy efficiency, acoustics, structural integrity, and applications, among others has become evident. Aerial Robots - Aerodynamics, Control, and Applications is an attempt to bring some of these topics related to UAVs together in just one book and to look at a selection of the most relevant problems of UAVs in a broader engineering perspective.
Download or read book Robust Discrete Time Flight Control of UAV with External Disturbances written by Shuyi Shao and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies selected discrete-time flight control schemes for fixed-wing unmanned aerial vehicle (UAV) systems in the presence of system uncertainties, external disturbances and input saturation. The main contributions of this book for UAV systems are as follows: (i) the proposed integer-order discrete-time control schemes are based on the designed discrete-time disturbance observers (DTDOs) and the neural network (NN); and (ii) the fractional-order discrete-time control schemes are developed by using the fractional-order calculus theory, the NN and the DTDOs. The book offers readers a good understanding of how to establish discrete-time tracking control schemes for fixed-wing UAV systems subject to system uncertainties, external wind disturbances and input saturation. It represents a valuable reference guide for academic research on uncertain UAV systems, and can also support advanced / Ph.D. studies on control theory and engineering. .
Download or read book Towards Safe Robots written by Sami Haddadin and published by Springer. This book was released on 2013-09-12 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt: The vision of seamless human-robot interaction in our everyday life that allows for tight cooperation between human and robot has not become reality yet. However, the recent increase in technology maturity finally made it possible to realize systems of high integration, advanced sensorial capabilities and enhanced power to cross this barrier and merge living spaces of humans and robot workspaces to at least a certain extent. Together with the increasing industrial effort to realize first commercial service robotics products this makes it necessary to properly address one of the most fundamental questions of Human-Robot Interaction: How to ensure safety in human-robot coexistence? In this authoritative monograph, the essential question about the necessary requirements for a safe robot is addressed in depth and from various perspectives. The approach taken in this book focuses on the biomechanical level of injury assessment, addresses the physical evaluation of robot-human impacts, and isolates the major factors that cause human injuries. This assessment is the basis for the design and exploration of various measures to improve safety in human-robot interaction. They range from control schemes for collision detection, reflex reaction, and avoidance to the investigation of novel joint designs that equip robots with fundamentally new capabilities. By the depth of its analysis and exceptionally salient experimental work, this monograph offers one of the most comprehensive treatments of the safety challenge in the field.
Download or read book International Aerospace Abstracts written by and published by . This book was released on 1999 with total page 1042 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Operating System ROS written by Anis Koubaa and published by Springer. This book was released on 2017-05-25 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: This second volume is a continuation of the successful first volume of this Springer book, and as well as addressing broader topics it puts a particular focus on unmanned aerial vehicles (UAVs) with Robot Operating System (ROS). Consisting of three types of chapters: tutorials, cases studies, and research papers, it provides comprehensive additional material on ROS and the aspects of developing robotics systems, algorithms, frameworks, and applications with ROS. ROS is being increasingly integrated in almost all kinds of robots and is becoming the de-facto standard for developing applications and systems for robotics. Although the research community is actively developing applications with ROS and extending its features, amount of literature references is not representative of the huge amount of work being done. The book includes 19 chapters organized into six parts: Part 1 presents the control of UAVs with ROS, while in Part 2, three chapters deal with control of mobile robots. Part 3 provides recent work toward integrating ROS with Internet, cloud and distributed systems. Part 4 offers five case studies of service robots and field experiments. Part 5 presents signal-processing tools for perception and sensing, and lastly, Part 6 introduces advanced simulation frameworks. The diversity of topics in the book makes it a unique and valuable reference resource for ROS users, researchers, learners and developers.
Download or read book Handbook of Smart Energy Systems written by Michel Fathi and published by Springer Nature. This book was released on 2023-08-04 with total page 3382 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook analyzes and develops methods and models to optimize solutions for energy access (for industry and the general world population alike) in terms of reliability and sustainability. With a focus on improving the performance of energy systems, it brings together state-of-the-art research on reliability enhancement, intelligent development, simulation and optimization, as well as sustainable development of energy systems. It helps energy stakeholders and professionals learn the methodologies needed to improve the reliability of energy supply-and-demand systems, achieve more efficient long-term operations, deal with uncertainties in energy systems, and reduce energy emissions. Highlighting novel models and their applications from leading experts in this important area, this book will appeal to researchers, students, and engineers in the various domains of smart energy systems and encourage them to pursue research and development in this exciting and highly relevant field.
