Soft Aerial Manipulation
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Soft Aerial Manipulation
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Author : Joshua S. Fishman
language : en
Publisher:
Release Date : 2021
Soft Aerial Manipulation written by Joshua S. Fishman and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Video attachments: https://youtu.be/NNpQxP0SPFk https://youtu.be/mqbj8mEyCdk
Aerial Manipulation
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Author : Matko Orsag
language : en
Publisher: Springer
Release Date : 2017-09-19
Aerial Manipulation written by Matko Orsag and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-19 with Technology & Engineering categories.
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.
Unmanned Aerial Systems
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Author : Anis Koubaa
language : en
Publisher: Academic Press
Release Date : 2021-01-21
Unmanned Aerial Systems written by Anis Koubaa and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-01-21 with Technology & Engineering categories.
Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system analysis, optimization, control, communications, 3D-mapping, search and rescue, surveillance, farmland and construction monitoring, and more. With the emergence of low-cost UAS, a vast array of research works in academia and products in the industrial sectors have evolved. The book covers the safe operation of UAS, including, but not limited to, fundamental design, mission and path planning, control theory, computer vision, artificial intelligence, applications requirements, and more. This book provides a unique reference of the state-of-the-art research and development of unmanned aerial systems, making it an essential resource for researchers, instructors and practitioners. Covers some of the most innovative approaches to drones Provides the latest state-of-the-art research and development surrounding unmanned aerial systems Presents a comprehensive reference on unmanned aerial systems, with a focus on cutting-edge technologies and recent research trends in the area
Design And Control Of A Compact Aerial Manipulation System With A Delta Type Parallel Robot
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Author : Gabriel Barsi Haberfeld
language : en
Publisher:
Release Date : 2017
Design And Control Of A Compact Aerial Manipulation System With A Delta Type Parallel Robot written by Gabriel Barsi Haberfeld and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
Controlled Manipulation Using Autonomous Aerial Systems
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Author : Manohar Balagatte Srikanth
language : en
Publisher:
Release Date : 2013
Controlled Manipulation Using Autonomous Aerial Systems written by Manohar Balagatte Srikanth and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
The main focus of the thesis is to design and control Autonomous Aerial Systems, also referred to as Unmanned Aerial Vehicles (UAVs). UAVs are able to hover and navigate in space using the thrust forces generated by the propellers. One of the simplest such vehicles that is widely used is a Quadrotor. While UAVs have been predominantly used for "fly and sense" applications, very few investigations have focused on using them to perform manipulation by contact. The latter is challenging because of the dual goal of performing manipulation and maintaining stable flight. Because Quadrotors can quickly reach a location, their ability to manipulate can be impactful in many scenarios. While efficient flight control of Quadrotor has been an active research area, using Quadrotor to perform manipulation is novel and challenging. In this thesis, a range of Quadrotor designs and control strategies are proposed in order to carry out autonomous manipulation of objects. We first derive a dynamic model of the Quadrotor that accounts for the presence of contact, object dynamics and kinematics. To improve manipulation performance, a passive light-weight end-effector interface between the Quadrotor and the object is proposed. The complexity of the dynamics is systematically reduced by making certain assumptions. The resulting dynamic model is divided into nonlinear subsystems on the basis of their degrees of freedom, for each of which separate controllers are designed. An efficient docking approach is proposed that permits fast and aggressive docking, even at very high speeds. Because a single Quadrotor UAS is limited in manipulation capability, a multi Quadrotor cooperative manipulation scheme is proposed. Control strategies are proposed to deal with kinematic and parametric uncertainties. A manipulation scheme to open a door with unknown hinge location is proposed. A nonlinear adaptive controller is implemented to perform efficient tracking in the presence of parametric uncertainty. In order to improve robustness to accidental contacts, a novel flexible Quadrotor, denoted as ParaFlex, is designed. The advantages of ParaFlex over a rigid Quadrotor are demonstrated. A Simulation, Test and Validation Environment (STeVE) is developed to facilitate smooth and efficient transition from design process to simulation to experiments.
Aerial Manipulation For Indoor Applications
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Author : Robert Mitchell Jones
language : en
Publisher:
Release Date : 2017
Aerial Manipulation For Indoor Applications written by Robert Mitchell Jones and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
Interleaved Predictive Control And Planning For An Unmanned Aerial Manipulator With On The Fly Rapid Replanning For Object Retrieval In Unknown Environments
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Author : Mohammadreza Yavari
language : en
Publisher:
Release Date : 2021
Interleaved Predictive Control And Planning For An Unmanned Aerial Manipulator With On The Fly Rapid Replanning For Object Retrieval In Unknown Environments written by Mohammadreza Yavari and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Unmanned Aerial Manipulators (UAM) are gaining attention within the unmanned aerial systems research community. They can be used for aerial manipulation tasks such as object retrieval from confined and hard-to-reach spaces. The coupled dynamics between the arm and the base and also the limited flight time would require the development and implementation of optimal motion planning and robust flight control strategies. In this work, we propose a novel integrated planning and control strategy for object retrieval. A new kinodynamic version of the RRT*, called Lazy-Steering-RRT*, is developed for planning UAM's motion from its start to a pre-grasp state, while keeping the motion of the arm to a minimum. This planning can be carried out on the fly by using Machine-Learning-based techniques to construct the edges in the search tree in a time-efficient way. This facilitates re-planning, as the environment is gradually sensed by limited range sensors onboard. Once the UAM reaches the pre-grasp state at the end of the motion cycle, an RRT approach is then utilized, where motions of the base and the arm are coordinated for reaching and grasping the object. An MPC/feedback-linearization control approach is also utilized for end-effector trajectory tracking based on a novel cross-dynamic partitioning approach between the arm and the base. The overall motion planning and control algorithms have been implemented in simulation using Multibody Physics Engines for realistic results and a number of representative simulation runs are presented. Our results show that the approach is effective in successfully executing the object retrieval task even in presence of confined spaces.
Advanced Robust Nonlinear Control Approaches For Quadrotor Unmanned Aerial Vehicle
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Author : Moussa Labbadi
language : en
Publisher: Springer
Release Date : 2021-10-21
Advanced Robust Nonlinear Control Approaches For Quadrotor Unmanned Aerial Vehicle written by Moussa Labbadi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-10-21 with Technology & Engineering categories.
This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.
An Exploration Of Unmanned Aerial Vehicle Direct Manipulation Through 3d Spatial Interaction
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Author : Kevin Pfeil
language : en
Publisher:
Release Date : 2013
An Exploration Of Unmanned Aerial Vehicle Direct Manipulation Through 3d Spatial Interaction written by Kevin Pfeil and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
We present an exploration that surveys the strengths and weaknesses of various 3D spatial interaction techniques, in the context of directly manipulating an Unmanned Aerial Vehicle (UAV). Particularly, a study of touch- and device- free interfaces in this domain is provided. 3D spatial interaction can be achieved using hand-held motion control devices such as the NintendoWiimote, but computer vision systems offer a different and perhaps more natural method. In general, 3D user interfaces (3DUI) enable a user to interact with a system on a more robust and potentially more meaningful scale. We discuss the design and development of various 3D interaction techniques using commercially available computer vision systems, and provide an exploration of the effects that these techniques have on an overall user experience in the UAV domain. Specific qualities of the user experience are targeted, including the perceived intuition, ease of use, comfort, and others. We present a complete user study for upper-body gestures, and preliminary reactions towards 3DUI using hand-and-finger gestures are also discussed. The results provide evidence that supports the use of 3DUI in this domain, as well as the use of certain styles of techniques over others.
Motion Coordination For Vtol Unmanned Aerial Vehicles
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Author : Abdelkader Abdessameud
language : en
Publisher: Springer
Release Date : 2015-06-13
Motion Coordination For Vtol Unmanned Aerial Vehicles written by Abdelkader Abdessameud and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-06-13 with Technology & Engineering categories.
Motion Coordination for VTOL Unmanned Aerial Vehicles develops new control design techniques for the distributed coordination of a team of autonomous unmanned aerial vehicles. In particular, it provides new control design approaches for the attitude synchronization of a formation of rigid body systems. In addition, by integrating new control design techniques with some concepts from nonlinear control theory and multi-agent systems, it presents a new theoretical framework for the formation control of a class of under-actuated aerial vehicles capable of vertical take-off and landing. Several practical problems related to the systems’ inputs, states measurements, and restrictions on the interconnection topology between the aerial vehicles in the team are addressed. Worked examples with sufficient details and simulation results are provided to illustrate the applicability and effectiveness of the theoretical results discussed in the book. The material presented is primarily intended for researchers and industrial engineers from robotics, control engineering and aerospace communities. It also serves as a complementary reading for graduate students involved in research related to flying robotics, aerospace, control of under-actuated systems, and nonlinear control theory