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We aim to extend the functionality of Unmanned Aerial Vehicles (UAVs) beyond passive observation to active interaction with objects. Of particular interest is grasping objects with hovering robots. This task is difficult due to the unstable dynamics of flying vehicles and limited positional accuracy demonstrated by existing hovering vehicles. Conventional robot grippers require centimetre-level positioning...
In view of problem for miniaturizing Micro Air Vehicles (MAV), a novel asymmetrical pitch system faced to rotary wing MAV is introduced. The pitch mechanism and control characteristics are studied and analyzed. Because the deformation of elasticity link is key to generate the blade pitch, it is analyzed and calculated by elasticity finite element method. And the results illustrate the linear relationship...
Lubricant condition monitoring is widely recognized as an effective means to determine the health of gearboxes and drive train components. For example, in rotorcraft systems, where the health of drive train and engine systems is paramount for safe operation and readiness, a staple means of condition monitoring of legacy gearboxes has been the use of both offline oil analysis and chip detection sensors,...
Corrosion of aircraft and rotorcraft is one of the primary maintenance cost drivers for the US Military, costing billions of dollars annually, and is by far the largest single maintenance cost for Navy and Marine Corps airframes. Various forms of localized corrosion, such as pitting corrosion, crevice corrosion, exfoliation, and environment assisted cracking, are particularly destructive and can lead...
This paper describes about adaptive neural controller (ANC) to stabilize an Autonomous Mini Aircraft Quadrotor (AMAC-Q) as Unmanned Aerial Vehicle (UAV) by using Model References Adaptive System (MRAS) as control scheme.
Single Rotor based Vertical Take Off and Landing systems are more prone to stability issues than normal aircraft. The main factors causing instability are anti torque, pitching and rolling. Anti torque, which causes the body of the aircraft to turn in the opposite direction to the rotor, is generated as the engine turns the rotor against the air. Pitching and rolling, on the other hand, can be caused...
In this paper, we consider the problem of tracking targets using a network of UAVs. We present a three phase approach for tracking targets using multiple UAVs. Our first step uses the disc coverage algorithm to cover all targets with minimum number of UAVs. In the next stage, we consider velocity and heading constraints of UAVs and propose algorithms for configuring their positions from one time step...
This paper presents a review of the state of the art and a discussion on vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) applied to the inspection of power utility assets and other similar civil applications. The first part of the paper presents the authors' view on specific benefits and operation constraints associated with the use of UAVs in power industry applications. The...
Four rotors flyer(FRF) is difficult to control because its control system is a multi-inputs and multi outputs with characteristics of nonlinear, strong coupling and sensitive to disturbance. In this paper, several intelligence control methods including genetic algorithm(GA), immune algorithm(IA), radial basis function(RBF), fuzzy system(FS) are used to control the flyer and the performance is analyzed...
Indoor flight is a new and challenging environment for unmanned aerial systems (UAS). To better explore this new flight regime, Embry-Riddle Aeronautical University (ERAU) developed a novel biologically inspired rotorcraft called SamarEye to compete in the 2009 and 2010 International Aerial Robotics Competitions (IARC). ERAU's approach to this competition was a unique aerodynamic configuration called...
This article presents one solution to a quadrotor control problem that is based on a discrete automaton. This automaton combines classical PID and more sophisticated LQ controllers to create a hybrid control system. This closed loop control concept is expanded with an open loop controller that enables the aircraft to perform aggressive flying maneuvers. The combination of open and closed loop controllers...
In this paper, a tri-rotor aircraft is designed, which can vertically take off and land, and moreover fly forward with a high speed. Two fixed wings are added to the tri-rotor aircraft, therefore, the ability of high-speed forward flight is guaranteed. A controller is presented using back-stepping technique to achieve mode transition control of the aircraft. Finally, the theoretical result is confirmed...
In the EU FP6 project ILDAS a prototype In-flight Lightning Damage Assessment System is developed for passenger aircraft and helicopter. The project aims to localize the attachment and the severity of the strokes during flight to assist maintenance. A database of events will be constructed to substantiate requirements for aircraft lightning immunity. Inductive magnetic field sensors are put at various...
The introduction of two types of unmanned aerial vehicles into a production of A Midsummer Night's Dream suggests that social proof informs untrained human groups. We describe the metaphors used in instructing actors, who were otherwise untrained and inexperienced with robots, in order to shape their expectations. Audience response to a robot crash depended on whether the audience had seen how the...
This work proposes a nonlinear controller for an autonomous helicopter, to track a given 3D trajectory. The starting point is a dynamic model obtained using the Euler-Lagrange formulation, considering the aircraft as a rigid body. The first contribution is the proposal of a suitable control law considering the nonlinear model, with no linearization strategy, and a proof of the stability of the closed-loop...
In this paper, an adaptive control strategy applying on a mini four-rotor rotorcraft is proposed. The controller is designed using the backstepping method and function estimation. In the control architecture for this rotorcraft, a two-layer structure is adopted consisting of an inner-loop controller and an outer-loop controller. The inner-loop controller is responsible for the angular rotations control,...
Autonomous estimation of the altitude of an Unmanned Aerial Vehicle (UAV) is extremely important when dealing with flight maneuvers like landing, steady flight, etc. Vision based techniques for solving this problem have been underutilized. In this paper, we propose a new algorithm to estimate the altitude of a UAV from top-down aerial images taken from a single on-board camera. We use a semi-supervised...
This paper presents the design of digital controller for attitude control of a rotary-winged flying robot in hover. It describes the best digital implementation of continuous compensation from linear SISO controller to control the nonlinear dynamics of the aerial robot. Results with limits are given for attitude correction against reference attitudes, set for maintaining the hover. Experiments are...
This paper presents the solution to a quadrotor control problem based on a discrete automaton that, in combination with classical PID controllers, creates a hybrid control system. Some modifications to the known and widely used mathematical model of quadrotor aircrafts are also discussed in this paper. The paper shows an open loop control concept that flies the aircraft into looping. Finally, the...
A simulation environment is developed to assist in the design, development, and validation of complex controllers with applications to mini-UAVs, such as the four-rotor DraganFly RC helicopter (quadrotor). The simulation system is modular and includes interfaces which allow for substitution of software subsystems with hardware components. This approach enables a smooth transition from the design and...
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