scholarly journals Winged Aerial Manipulation Robot with Dual Arm and Tail

2020 ◽  
Vol 10 (14) ◽  
pp. 4783 ◽  
Author(s):  
Alejandro Suarez ◽  
Pedro Grau ◽  
Guillermo Heredia ◽  
Anibal Ollero
Keyword(s):  
Frame Structure ◽  
Small Scale ◽  
Concept Design ◽  
Design Development ◽  
Aerial Manipulation ◽  
Dexterous Manipulation ◽  
Aerial Robot ◽  
Servo Controller ◽  
Dual Arm ◽  
Manipulation Robot

This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy efficient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for manipulating and as a morphing wing. The arms, fuselage, and tail are covered by a nylon cloth that acts as a cap, similar to a kite. The three joints of the arms (shoulder yaw and pitch, elbow pitch) can be used to control the surface area and orientation and thus the aerodynamic wrenches induced over the cloth. The proposed concept design is extended to a flapping-wing aerial robot built with smart servo actuators and a similar frame structure, allowing the generation of different flapping patterns exploiting the embedded servo controller. Experimental and simulation results carried out with these two prototypes evaluate the manipulation capability and the possibility of gliding and flying.

scholarly journals Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

2020 ◽  
Vol 10 (24) ◽  
pp. 8927
Author(s):  
Alejandro Suarez ◽  
Pedro J. Sanchez-Cuevas ◽  
Guillermo Heredia ◽  
Anibal Ollero
Keyword(s):  
Impedance Control ◽  
Physical Interaction ◽  
Position Sensor ◽  
Aerial Manipulation ◽  
End Effector ◽  
Control Scheme ◽  
External Forces ◽  
Dual Arm ◽  
Manipulation Robot ◽  
Aerial Platform

This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). The goal was to evaluate the positioning accuracy of the aerial platform and the end effector when the grabbing arm is used as position sensor, as well as to analyze the behavior of the robot during the aerial physical interaction on flight. The paper proposed a control scheme that exploits the information provided by the joint sensors of the grabbing arm for estimating the relative position of the aerial platform w.r.t. (with respect to) the grabbing point. A deflection-based Cartesian impedance control was designed for the compliant arm, allowing the generation of forces that help the aerial platform to maintain the reference position when it is disturbed due to external forces. The proposed methods were validated in an indoor testbed with a lightweight and compliant dual arm aerial manipulation robot.

scholarly journals Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation

2021 ◽  
Vol 11 (16) ◽  
pp. 7427
Author(s):  
Angel Rodriguez-Castaño ◽  
Saeed Rafee Nekoo ◽  
Honorio Romero ◽  
Rafael Salmoral ◽  
José Ángel Acosta ◽  
...  
Keyword(s):  
Power Line ◽  
Aerial Manipulation ◽  
Bird Flight ◽  
Autonomous Operation ◽  
Custom Made ◽  
Aerial Robot ◽  
Human Operators ◽  
The Cost ◽  
High Voltage Power Lines ◽  
Manipulation Robot

This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up.

Development of Physics Learning Module Based on Guided Inquiry with Light Wave Material in Class XI of Senior High School

2020 ◽  
Vol 1 (1) ◽  
pp. 1-10
Author(s):  
Evi Rahmawati ◽  
Irnin Agustina Dwi Astuti ◽  
N Nurhayati
Keyword(s):  
Large Scale ◽  
Learning Strategy ◽  
Student Response ◽  
Average Score ◽  
Small Scale ◽  
Design Development ◽  
Teacher Response ◽  
Student Responses ◽  
Analysis Design ◽  
Scientific Skills

IPA Integrated is a place for students to study themselves and the surrounding environment applied in daily life. Integrated IPA Learning provides a direct experience to students through the use and development of scientific skills and attitudes. The importance of integrated IPA requires to pack learning well, integrated IPA integration with the preparation of modules combined with learning strategy can maximize the learning process in school. In SMP 209 Jakarta, the value of the integrated IPA is obtained from 34 students there are 10 students completed and 24 students are not complete because they get the value below the KKM of 68. This research is a development study with the development model of ADDIE (Analysis, Design, Development, Implementation, and Evaluation). The use of KPS-based integrated IPA modules (Science Process sSkills) on the theme of rainbow phenomenon obtained by media expert validation results with an average score of 84.38%, average material expert 82.18%, average linguist 75.37%. So the average of all aspects obtained by 80.55% is worth using and tested to students. The results of the teacher response obtained 88.69% value with excellent criteria. Student responses on a small scale acquired an average score of 85.19% with highly agreed criteria and on the large-scale student response gained a yield of 86.44% with very agreed criteria. So the module can be concluded receiving a good response by the teacher and students.

scholarly journals Design, Development, and Flight Test of a Small-Scale Cyclogyro UAV Utilizing a Novel Cam-Based Passive Blade Pitching Mechanism

2013 ◽  
Vol 5 (2) ◽  
pp. 145-162 ◽  
Author(s):  
Zachary Adams ◽  
Moble Benedict ◽  
Vikram Hrishikeshavan ◽  
Inderjit Chopra
Keyword(s):  
Flight Test ◽  
Small Scale ◽  
Design Development

Thermal Design and Testing of a Passive Helmet Heat Exchanger With Additively Manufactured Components

2018 ◽  
Author(s):  
Kailyn Cage ◽  
Monifa Vaughn-Cooke ◽  
Mark Fuge ◽  
Briana Lucero ◽  
Dusan Spernjak ◽  
...  
Keyword(s):  
Heat Exchanger ◽  
Heat Pipe ◽  
Thermal Management ◽  
Heat Pipes ◽  
Thermal Design ◽  
Analytical Models ◽  
Small Scale ◽  
Dimensional System ◽  
Concept Design ◽  
Environmental Chamber

Additive manufacturing (AM) processes allow for complex geometries to be developed in a cost- and time-efficient manner in small-scale productions. The unique functionality of AM offers an ideal collaboration between specific applications of human variability and thermal management. This research investigates the intersection of AM, human variability and thermal management in the development of a military helmet heat exchanger. A primary aim of this research was to establish the effectiveness of AM components in thermal applications based on material composition. Using additively manufactured heat pipe holders, the thermal properties of a passive evaporative cooler are tested for performance capability with various heat pipes over two environmental conditions. This study conducted a proof-of-concept design for a passive helmet heat exchanger, incorporating AM components as both the heat pipe holders and the cushioning material targeting internal head temperatures of ≤ 35°C. Copper heat pipes from 3 manufactures with three lengths were analytically simulated and experimentally tested for their effectiveness in the helmet design. A total of 12 heat pipes were tested with 2 heat pipes per holder in a lateral configuration inside a thermal environmental chamber. Two 25-hour tests in an environmental chamber were conducted evaluating temperature (25°C, 45°C) and relative humidity (25%, 50%) for the six types of heat pipes and compared against the analytical models of the helmet heat exchangers. Many of the heat pipes tested were good conduits for moving the heat from the head to the evaporative wicking material. All heat pipes had Coefficients of Performance under 3.5 when tested with the lateral system. Comparisons of the analytical and experimental models show the need for the design to incorporate a re-wetting reservoir. This work on a 2-dimensional system establishes the basis for design improvements and integration of the heat pipes and additively manufactured parts with a 3-dimensional helmet.

Concept Design of Very Large Floating Structures and Laboratory-Scale Physical Modelling

2019 ◽  
Author(s):  
Lorenzo Cappietti ◽  
Irene Simonetti ◽  
Ilaria Crema
Keyword(s):  
Numerical Models ◽  
Physical Modelling ◽  
Building Blocks ◽  
Small Scale ◽  
World Population ◽  
Concept Design ◽  
Wave Loads ◽  
Experimental Database ◽  
Floating Structures ◽  
Very Large Floating Structures

Abstract The use of Very Large Floating Structures, VLFS, may represent a strategic approach in order to cope with some of the future societal challenges arising from the impressive growth of the world population. In this article, the motivations of this perspective are briefly discussed, the main issues for the development of VLFS are summarized and a concept structural design based on building-blocks technology is proposed. A small-scale physical model was manufactured and tested in the wave-current flume of the Laboratory of Maritime Engineering, LABIMA, of the Florence University, Italy. The aim of this study is the assessment of the structural feasibility and the effectiveness of the proposed VLFS concept, in terms of resistance to wave loads and control of floating behavior. The experimental measurements provide a first contribution to the necessary knowledge, about load magnitudes and floating behavior, for sizing some of the key structural components. The results appear to support the feasibility of the system in terms of usage of structural materials, technical components and building technologies, available at present, that can withstand the measured loads. Moreover, the acquired experimental database is fundamental in order to validate numerical models, in the perspective of using also such tools as complementary methodology for further improvement of the knowledge of design issues.

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