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This paper presents planning and control of multiple aerial manipulators for cooperative transportation. Individual aerial manipulators which consist of a hexacopter and 2-DOF robotic arm are controlled by an augmented adaptive sliding mode controller based on a closed-chain robot dynamics. The desired path for each aerial manipulator is obtained by using RRT* to transport an object to the desired...
This paper presents an estimation and control algorithm for an aerial manipulator using a hexacopter with a 2-DOF robotic arm. The unknown parameters of a payload are estimated by an on-line estimator based on parametrization of the aerial manipulator dynamics. With the estimated mass information and the augmented passivity-based controller, the aerial manipulator can fly with the unknown object....
Diluted magnetic semiconductors (DMSs), which refer to transition-metal (TM) ions partially substitute cations of the host semiconductor materials, have attracted considerable attention for potential applications in spin electronics and magnetic devices. Aiming in realizing practical spintronic devices, the most important is to develop DMSs with Curie temperature (TC) exceeding room temperature. And...
This paper is about opening and closing an unknown drawer using an aerial manipulator. To accommodate practical applications, it is assumed that the direction of motion and mechanical properties of the drawer are not given beforehand. A multirotor combined with a robotic arm is used for the manipulation task. Typical drawers are allowed to move in only one direction, which constrains the motion of...
This paper presents an adaptive sliding mode control for a dual-controlled missile with tail fins and reaction jets. An RBF(Radial Basis Function) neural network is used to adaptively compensate for the uncertainties. The network adaptation rule is derived from Lyapunov stability theory. It is shown that the proposed control design achieves uniformly ultimate boundedness. The proposed controller is...
Online least square support vector regression (LS-SVR) is an extension from a standard SVR for fast learning. In this paper, we consider a combination of the online LS-SVR and semi-supervised learning in order to boost estimation accuracy. The semi-supervised learning is useful for real-time and complex estimation applications because it uses a small amount of the labeled data but sufficient unlabeled...
For case where exist some threats in field of task assignment, threat avoidance is needed to be considered. Then both fast arrival and threat avoidance are used to form the performance measure. The policies of task assignment decide which factor is mostly considered between arrival time and threat avoidance. The purpose of this research is estimating the hidden policy from user's manual task assignment...
This paper presents a three-dimensional path tracking strategy for a hydraulic excavator. It mainly aims to design the controller for allowing the excavator to follow typical working motions of a skillful operator such as leveling and truck loading. The performance of the designed controller is verified through real-time experiments using a 21-ton class excavator in which displacement sensors, electro-proportional...
This paper presents robust control for a quadrotor using TS (Takagi-Sugeno) fuzzy model and an LMI (Linear Matrix Inequality) approach. TS fuzzy model can provide an effective representation of nonlinear systems with a set of local linear models. We present TS fuzzy model for the quarotor which is composed of local linear models valid in different operation points. Also, a state feedback controller...
In this paper, we suggest a new 6-DoF velocity estimation algorithm using RGB and depth images. Autonomous control of mobile robots requires their velocity information. There exist numerous researches on estimating and measuring the velocity. However, more investigations are needed related to vision sensors and depth image. In this work, we propose an algorithm for velocity estimation with an RGB-D...
This paper studies optimal sensor placement for received signal strength(RSS)-based localization. We employ a Gaussian process (GP) to estimate one target position against highly nonlinear and noisy RSS. The estimation performance is then characterized by the Cramer-Rao lower bound that is used for the sensor placement by minimizing the lower bound. We analyze the optimality of the relative sensor-target...
Real-time approach for monocular visual simultaneous localization and mapping (SLAM) within a large-scale environment is proposed. From a monocular video sequence, the proposed method continuously computes the current 6-DOF camera pose and 3D landmarks position. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor, while...
In this paper, a new motor control input and controller for small-scale electrically powered multirotor aerial vehicles is proposed. The proposed scheme is based on controlling aerodynamic power as opposed to the rotor speed of each motor-rotor system. Electrical properties of the brushless direct current motor are used to both estimate and control the mechanical power of the motor system which is...
An organic glass reactor was invented with nozzles-plate electrode coated with TiO2 and supplied with negative pulsed high voltage. OH radical was diagnosed by optical emission spectroscopy (OES) and the rotational temperature of the OH radical was analyzed by the software of LIFBASE based on the OH radical's OES. The effects of the pulse peak voltage, the pulse repetition frequency, different situations...
This paper presents aerial manipulation using a quadrotor with a two-DOF robot arm. By considering a quadrotor and robot arm as a combined system, the kinematic and dynamic models are developed, and an adaptive sliding mode controller is designed. With the controller, an autonomous flight experiment is conducted including picking up and delivering an object, which requires accurate control of a quadrotor...
A nanofluid is a two-phase mixture composed of a liquid phase and solid nanoparticles in suspension. These nanoparticles exhibit unique properties, compared to those of the same material at bulk scale. In this study, mineral oil based fullerene nanofluids with different concentrations were prepared. Of main interest was the AC breakdown voltage of the nanofluids. The AC breakdown voltage of the nanofluids...
The term “nanofluids” was first proposed by researchers at Argonne National Laboratory and refers to a two-phase mixture, composed of a liquid medium and solid nanoparticles in suspension. One method of enhancing the thermal conductivity of a fluid is to add nanoparticles to the fluid, thus creating such a nanofluid. In this study, fullerene and titania nanoparticles were dispersed into mineral oil...
This paper presents a back stepping controller based on SE(3) to track the desired trajectory for a quad rotor unmanned aerial vehicle. The controller consists of two parts: 1) a position control part and 2) an attitude control part. The position controller is used to track the desired Cartesian coordinates using position and velocity errors, while the attitude controller uses the rotation matrix...
Efficient environmental monitoring is an important application area of wireless sensor networks or unmanned ground/flying robots. In this paper, predictive modeling of environmental information and its usage for informative path planning is considered. In order to represent information gathered by observations, we use radial basis function (RBF) based approximation with Kalman filter. Also, we employ...
In tracking a mobile target using wireless sensor networks (WSN), efficient sleep scheduling is needed to reduce energy consumption without severely deteriorating the tracking performance. Conventional prediction-based sleep scheduling techniques require position, velocity and even acceleration of the target in order to wake up the nodes according to the next predicted location of the target. In these...
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