Control of an Aerial Manipulator With an On-Board Balancing Mechanism

2016 ◽  
Author(s):  
Jameson Y. Lee ◽  
Zachary Cook ◽  
Alexander Barzilov ◽  
Woosoon Yim
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Unmanned Aerial Systems ◽  
Control Methods ◽  
Aerial Manipulation ◽  
Single Body ◽  
Aerial Manipulator ◽  
The Many ◽  
Aerial Systems ◽  
Rotor Control

Multirotor Unmanned Aerial Systems (UAS) are highly mobile in flight and possess stable hovering capabilities. Because of their unique flight characteristics, the utilization of the platform for active tasks such as aerial manipulation is highly attractive. Much work has been done in recent years towards the implementation of multirotor for aerial manipulation, however, progress in the field has been slow due to the many challenges involved in the implementation of robust rotor control. In an attempt to reduce the effects of the manipulator, a technique for disturbance rejection using a novel balancing mechanism is proposed. In this paper, the dynamic equations of a coupled multirotor and manipulator are analyzed as a single body for use in the attitude control of the platform. By mounting the mechanism, the platform effectively gains marginal control over the positioning of its center of gravity relative to a body fixed frame. It can be shown that the increased mobility can be utilized to reduce rotor saturation for any given flight condition and improve the effectiveness of previously developed rotor control methods.

Unmanned Aerial Systems Physically Interacting with the Environment: Load Transportation, Deployment, and Aerial Manipulation

2014 ◽  
pp. 2755-2785 ◽  
Author(s):  
Konstantin Kondak ◽  
Aníbal Ollero ◽  
Ivan Maza ◽  
Kai Krieger ◽  
Alin Albu-Schaeffer ◽  
...  
Keyword(s):  
Unmanned Aerial Systems ◽  
Aerial Manipulation ◽  
Load Transportation ◽  
Aerial Systems

scholarly journals Current Practices in UAS-based Environmental Monitoring

2020 ◽  
Vol 12 (6) ◽  
pp. 1001 ◽  
Author(s):  
Goran Tmušić ◽  
Salvatore Manfreda ◽  
Helge Aasen ◽  
Mike R. James ◽  
Gil Gonçalves ◽  
...  
Keyword(s):  
Data Collection ◽  
Best Practices ◽  
Product Development ◽  
Environmental Monitoring ◽  
Environmental Conditions ◽  
Best Practice ◽  
Unmanned Aerial Systems ◽  
The Many ◽  
Aerial Systems ◽  
Operational Guidance

With the increasing role that unmanned aerial systems (UAS) are playing in data collection for environmental studies, two key challenges relate to harmonizing and providing standardized guidance for data collection, and also establishing protocols that are applicable across a broad range of environments and conditions. In this context, a network of scientists are cooperating within the framework of the Harmonious Project to develop and promote harmonized mapping strategies and disseminate operational guidance to ensure best practice for data collection and interpretation. The culmination of these efforts is summarized in the present manuscript. Through this synthesis study, we identify the many interdependencies of each step in the collection and processing chain, and outline approaches to formalize and ensure a successful workflow and product development. Given the number of environmental conditions, constraints, and variables that could possibly be explored from UAS platforms, it is impractical to provide protocols that can be applied universally under all scenarios. However, it is possible to collate and systematically order the fragmented knowledge on UAS collection and analysis to identify the best practices that can best ensure the streamlined and rigorous development of scientific products.

LIGHTER-THAN-AIR (LTA) UNMANNED AERIAL SYSTEM (UAS) CARRIER CONCEPT FOR SURVAILLANCE AND DISASTER MANAGEMENT

2019 ◽  
Vol 3 ◽  
pp. 1255
Author(s):  
Ahmad Salahuddin Mohd Harithuddin ◽  
Mohd Fazri Sedan ◽  
Syaril Azrad Md Ali ◽  
Shattri Mansor ◽  
Hamid Reza Jifroudi ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Disaster Management ◽  
Unmanned Aerial Systems ◽  
Unmanned Aerial System ◽  
Border Control ◽  
Aerial Vehicles ◽  
Operational Safety ◽  
In Situ Methods ◽  
Aerial Systems

Unmanned aerial systems (UAS) has many advantages in the fields of SURVAILLANCE and disaster management compared to space-borne observation, manned missions and in situ methods. The reasons include cost effectiveness, operational safety, and mission efficiency. This has in turn underlined the importance of UAS technology and highlighted a growing need in a more robust and efficient unmanned aerial vehicles to serve specific needs in SURVAILLANCE and disaster management. This paper first gives an overview on the framework for SURVAILLANCE particularly in applications of border control and disaster management and lists several phases of SURVAILLANCE and service descriptions. Based on this overview and SURVAILLANCE phases descriptions, we show the areas and services in which UAS can have significant advantage over traditional methods.

Reliability of Analytically Redundant Systems for Small Unmanned Aerial Systems

2021 ◽  
Author(s):  
Aditya Kotikalpudi ◽  
Edwin A. Williams ◽  
Peter J. Seiler
Keyword(s):  
Unmanned Aerial Systems ◽  
Aerial Systems ◽  
Redundant Systems

Beach and dune impacts due to Hurricane Florence in Dare County, North Carolina

Shore & Beach ◽  
2019 ◽  
pp. 44-49 ◽  
Author(s):  
Elizabeth Sciaudone ◽  
Liliana Velasquez-Montoya
Keyword(s):  
North Carolina ◽  
Prior Knowledge ◽  
Unmanned Aerial Systems ◽  
State University ◽  
National Wildlife Refuge ◽  
Sediment Samples ◽  
Wildlife Refuge ◽  
Full Report ◽  
Aerial Systems

Less than two weeks after Hurricane Florence made landfall in North Carolina (NC), a team of researchers from NC State University traveled to Dare County to investigate the storm’s effects on beaches and dunes. Using available post-storm imagery and prior knowledge of vulnerabilities in the system, the team identified several locations to visit in the towns of Kitty Hawk, Nags Head, Rodanthe, Buxton, and Hatteras, as well as a number of locations within the Pea Island National Wildlife Refuge (Figure 1). Data collected included topographic profiles, still imagery and video from unmanned aerial systems, sediment samples, and geo-located photography. This Coastal Observations piece presents some of the data and photos collected; the full report is available online (Sciaudone et al. 2019), and data collected will be made available to interested researchers upon request.

Unmanned Aerial Systems (UAS) Mission Planning

2012 ◽  
Author(s):  
R. K. Barnhart
Keyword(s):  
Mission Planning ◽  
Unmanned Aerial Systems ◽  
Aerial Systems

A Comparative Economic Study on the Use of Unmanned Aerial Systems versus Motorcycles to Transport Laboratory Samples in Liberia

2019 ◽  
Author(s):  
Walter Ochieng ◽  
Tun Ye ◽  
Christina M. Scheel ◽  
Aun Lor ◽  
John M. Saindon ◽  
...  
Keyword(s):  
Unmanned Aerial Systems ◽  
Economic Study ◽  
Aerial Systems
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