Готові списки джерел за темами / Aerial Mobile Manipulation

Добірка наукової літератури з теми "Aerial Mobile Manipulation"

Автор: Grafiati

Опубліковано: 10 грудня 2022

Оновлено: 28 січня 2023

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Статті в журналах з теми "Aerial Mobile Manipulation"

Ladig, Robert, Hannibal Paul, Ryo Miyazaki, and Kazuhiro Shimonomura. "Aerial Manipulation Using Multirotor UAV: A Review from the Aspect of Operating Space and Force." Journal of Robotics and Mechatronics 33, no. 2 (April 20, 2021): 196–204. http://dx.doi.org/10.20965/jrm.2021.p0196.

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Анотація:

Aerial manipulation: physical interaction with the environment by using a robotic manipulator attached to the airframe of an aerial robot. In the future one can expect that aerial manipulation will greatly extend the range of possible applications for mobile robotics, especially multirotor UAVs. This can range from inspection and maintenance of previously hard to reach pieces of infrastructure, to search and rescue applications. What kind of manipulator is attached to what position of the airframe is a key point in accomplishing the aerial robot’s function and in the past, various aerial manipulation solutions have been proposed. This review paper gives an overview of the literature on aerial manipulation that have been proposed so far and classifies them by configuration of the workspace and function.

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Orsag, Matko, Christopher Korpela, Stjepan Bogdan, and Paul Oh. "Dexterous Aerial Robots—Mobile Manipulation Using Unmanned Aerial Systems." IEEE Transactions on Robotics 33, no. 6 (December 2017): 1453–66. http://dx.doi.org/10.1109/tro.2017.2750693.

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Furferi, Rocco, Roberto Conti, Enrico Meli, and Alessandro Ridolfi. "Optimization of potential field method parameters through networks for swarm cooperative manipulation tasks." International Journal of Advanced Robotic Systems 13, no. 6 (November 28, 2016): 172988141665793. http://dx.doi.org/10.1177/1729881416657931.

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An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments). Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs) is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs) is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment and it is transported by four underwater mobile robots, each one provided with a seven-degrees-of-freedom robotic arm. The simulation results are optimized thanks to the ANNs used for the potentials tuning.

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Yeol, Joe Woong, Donald Toohey, and Yong-Won Hwang. "Design and Analysis of a Multiple Tentacle System for Mobile Manipulation in Micro Aerial Vehicles." Procedia Computer Science 105 (2017): 7–13. http://dx.doi.org/10.1016/j.procs.2017.01.180.

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MASUDA, Arata, Yoshiyuki HIGASHI, and Takashi TANAKA. "1A1-T05 A Vibration Probe Foot for Aerial Inspection Robots for Steel Structures(Mobile Manipulation Robot)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _1A1—T05_1—_1A1—T05_2. http://dx.doi.org/10.1299/jsmermd.2014._1a1-t05_1.

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Lin, Shijie, Jinwang Wang, Rui Peng, and Wen Yang. "Development of an Autonomous Unmanned Aerial Manipulator Based on a Real-Time Oriented-Object Detection Method." Sensors 19, no. 10 (May 25, 2019): 2396. http://dx.doi.org/10.3390/s19102396.

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Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potential in mobile 3-dimensional grasping applications, but they still suffer from some difficulties impeding their board applications, such as target detection and indoor positioning. For the autonomous grasping mission, the UAMs need ability to recognize the objects and grasp them. Considering the efficiency and precision, we present a novel oriented-object detection method called Rotation-SqueezeDet. This method can run on embedded-platforms in near real-time. Besides, this method can give the oriented bounding box of an object in images to enable a rotation-aware grasping. Based on this method, a UAM platform was designed and built. We have given the formulation, positioning, control, and planning of the whole UAM system. All the mechanical designs are fully provided as open-source hardware for reuse by the community. Finally, the effectiveness of the proposed scheme was validated in multiple experimental trials, highlighting its applicability of autonomous aerial rotational grasping in Global Positioning System (GPS) denied environments. We believe this system can be deployed to many potential workplaces which need UAM to accomplish difficult manipulation tasks.

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Amran, Gehad Abdullah, Wang Shuang, Mohammed A. A. Al-qaness, Syed Agha Hassnain Mohsan, Rizwan Abbas, Eissa Ghaleb, Samah Alshathri, and Mohamed Abd Elaziz. "Efficient and Secure WiFi Signal Booster via Unmanned Aerial Vehicles WiFi Repeater Based on Intelligence Based Localization Swarm and Blockchain." Micromachines 13, no. 11 (November 8, 2022): 1924. http://dx.doi.org/10.3390/mi13111924.

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Recently, the unmanned aerial vehicles (UAV) under the umbrella of the Internet of Things (IoT) in smart cities and emerging communities have become the focus of the academic and industrial science community. On this basis, UAVs have been used in many military and commercial systems as emergency transport and air support during natural disasters and epidemics. In such previous scenarios, boosting wireless signals in remote or isolated areas would need a mobile signal booster placed on UAVs, and, at the same time, the data would be secured by a secure decentralized database. This paper contributes to investigating the possibility of using a wireless repeater placed on a UAV as a mobile booster for weak wireless signals in isolated or rural areas in emergency situations and that the transmitted information is protected from external interference and manipulation. The working mechanism is as follows: one of the UAVs detect a human presence in a predetermined area with the thermal camera and then directs the UAVs to the location to enhance the weak signal and protect the transmitted data. The methodology of localization and clusterization of the UAVs is represented by a swarm intelligence localization (SIL) optimization algorithm. At the same time, the information sent by UAV is protected by blockchain technology as a decentralization database. According to realistic studies and analyses of UAVs localization and clusterization, the proposed idea can improve the amplitude of the wireless signals in far regions. In comparison, this database technique is difficult to attack. The research ultimately supports emergency transport networks, blockchain, and IoT services.

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Lin, Chin E., Pei-Chi Shao, and Yu-Yuan Lin. "System Operation of Regional UTM in Taiwan." Aerospace 7, no. 5 (May 25, 2020): 65. http://dx.doi.org/10.3390/aerospace7050065.

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The hierarchical unmanned aerial systems (UAS) traffic management (UTM) is proposed for UAS operation in Taiwan. The proposed UTM is constructed using the similar concept of ATM from the transport category aviation system. Based on the airspace being divided by 400 feet of altitude, the RUTM (regional UTM) is managed by the local government and the NUTM (national UTM) by the Civil Aeronautical Administration (CAA). Under construction of the UTM system infrastructure, this trial tests examine the effectiveness of UAV surveillance under 400 feet using automatic dependent surveillance-broadcast (ADS-B)-like on-board units (OBU). The ground transceiver station (GTS) is designed with the adoptable systems. In these implementation tests, five long-range wide area network (LoRa) gateways and one automatic packet reporting system (APRS) I-Gate are deployed to cover the Tainan Metropolitan area. The data rates are set in different systems from 8 to 12 s to prevent from data conflict or congestion. The signal coverage, time delay, data distribution, and data variance in communication are recorded and analyzed for RUTM operation. Data streaming and Internet manipulation are verified with cloud system stability and availability. Simple operational procedures are defined with priority for detect and avoid (DAA) for unmanned aerial vehicles (UAVs). Mobile communication and Zello broadcasts are introduced and applied to establish controller-to-pilot communication (CPC) for DAA. The UAV flight tests are generally beyond visual line-of-sight (BVLOS) near suburban areas with flight distances to 8 km. On the GTS deployment, six test locations examine communication coverage and effectiveness using ADS-B like OBUs. In system verification, the proposed ADS-B like OBU works well in the UTM infrastructure. The system feasibility is proven with support of receiving data analysis and transceiver efficiency. The trial test supports RUTM in Taiwan for UAV operations.

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Herndon, J. Marvin, Dale D. Williams, and Mark Whiteside. "Ancient Giant Sequoias Are Dying: Scientists Refuse to Acknowledge the Cause." Advances in Social Sciences Research Journal 8, no. 9 (September 9, 2021): 57–70. http://dx.doi.org/10.14738/assrj.89.10851.

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California’s Giant Sequoias and Coast Redwoods, long symbols of strength, longevity, and resilience, have survived natural climate change for as long as 3,000 years, but are now succumbing to human manipulation of the natural environment. Scientists concerned with the wellbeing of these magnificent trees blame their recent die-offs on climate change, drought, and insects while turning a blind eye to the primary underlying cause: environmental modification by jet-emplacement in the troposphere of toxic particles evidenced as coal combustion fly ash. Said aerosolized particulates cause droughts and deluges, heat the troposphere, contaminate rain, snow, and fog with plant-killing toxins including chemically-mobile aluminum, coat foliage, and exacerbate forest fires. The aerial spraying depletes stratospheric ozone, allowing damaging ultraviolet radiation B and C to reach Earth’s surface. These environmental stressors weaken the trees to the point they are attacked by insects and pathogenic fungi. Here we disclose the unspoken, underlying cause of the die-offs of Giant Sequoias and Coast Redwoods. Through a diabolically-deceptive, Trojan horse, United Nations’ International Treaty the governments of sovereign nations were coerced to wage environmental warfare against their own citizens and the natural environment under the guise of peaceful environmental modification. Remaining trees, and indeed much of the life on Earth, can only be saved if this environmental modification is halted.

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Danko, Todd W., and Paul Y. Oh. "Design and Control of a Hyper-Redundant Manipulator for Mobile Manipulating Unmanned Aerial Vehicles." Journal of Intelligent & Robotic Systems 73, no. 1-4 (October 10, 2013): 709–23. http://dx.doi.org/10.1007/s10846-013-9935-2.

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Більше джерел

Дисертації з теми "Aerial Mobile Manipulation"

Riccardo, Zanella Riccardo. "Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test." Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-187649.

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This work considers an aerial robot system composed of an Unmanned Aerial Vehicle (UAV) and a rigid manipulator, to be employed in mobile manipulation tasks. The strategy adopted for accomplishing the aerial manipulation is a decomposition of the previous system in two decoupled subsystems: one concerning the center of mass of the aerial robot; and another concerning the manipulator's orientation. Two Lyapunov-based controllers are developed, using a back stepping procedure, for solving the trajectory tracking problems related to the two subsystems. In the controller design, three inputs are assumed available: a translational acceleration along a body direction of the UAV; an angular velocity vector of this body rotation; and, finally, a torque at the spherical, or revolute, joint connecting the UAV and the manipulator. The first two inputs are generated by the same controller in order to drive the center of mass on a desired trajectory; while a second controller drives, through the third input, the manipulator's orientation to track a desired orientation. Formal stability proofs are provided that guarantee asymptotic trajectory tracking. Finally, the proposed control strategy is experimentally tested and validated.

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Schuster, Micha. "Entwicklung und Modellierung einer vollaktuierten Drohne." Master's thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2018. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-236790.

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Diese Diplomarbeit beschäftigt sich mit der geometrischen Auslegung und Regelung einer vollaktuierten Drohne, die als fliegende Arbeitsplattform für einen Manipulator dienen soll. Dabei werden ausgehend von der geometrischen Beschreibung einer allgemeinen, symmetrischen Drohne mit sechs Rotoren Methoden entwickelt, die den anforderungsbezogenen Entwurf der Geometrie einer vollaktuierten Drohne ermöglichen. Darüber hinaus werden prinzipielle Einflussmechanismen einzelner Geometrieparameter auf die durch die Drohne erzeugbaren Kräfte und Momente aufgezeigt. Zur Charakterisierung des Raums aller erzeugbaren Lasten wird dieser auf sogenannte Stützvektoren reduziert. Als Stützvektoren dienen dabei die für den Schwebeflug nötige Schubkraft, die garantierte Mindestkraft in horizontaler Richtung und das garantierte Mindestmoment um eine beliebige Achse, zu deren Berechnung zusätzlich analytische Formeln hergeleitet werden. Aufbauend auf die Beschreibung durch Stützvektoren wird die Formuliernung von Metriken vorgestellt, die die Bewertung einer Drohnengeometrie durch eine einzige skalare Maßzahl ermöglichen, wodurch die je nach Anwendung optimale Drohnengeometrie ermittelt werden kann. Zur Regelung des Systems aus Drohne und Manipulator wurde ein Regelungskonzept entwickelt, welches durch eine Entkopplung der Bewegungsgleichungen eine virtuelle Verschiebung des Schwerpunkts in das Drohnenzentrum realisiert und so eine präzise Regelung unabhängig von der tatsächlichen Schwerpunktlage ermöglicht
This thesis’ subject is the geometrical design and control of a fully actuated drone, intended to be used as a flying operating-platform for a manipulator. Starting with the general geometrical description of a symmetric drone with six rotors, methods for the application specific design of a fully actuated drone are developed. Furthermore general influencing principles of geometric parameters on the forces and torques that can be generated by the drone, are pointed out. To characterize the drone's wrench-space, it is reduced to so called support vectors, which are given by the hovering thrust, the minimum guaranteed force in a horizontal direction and the minimum guaranteed torque in any direction. Additionally, analytic formulas are derived for the mentioned support vectors. Based on the description by the support vectors, a formulation of metrics is introduced, to enable the assessment of a specific drone geometry by a single scalar measure, to determine the ideal drone geometry for a specific application. Targeting the issue of controlling the flight system, consisting of the drone and the manipulator, a concept is developed that realizes a virtual dissplacement of the center of mass by decoupling the equations of motion and therby facilitates a precise control, independent of the actual location of the system's center of mass

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Li, Zhongmou. "Theoretical developments and experimental evaluation of a novel collaborative multi-drones grasping and manipulation system Zof large objects." Thesis, Ecole centrale de Nantes, 2021. http://www.theses.fr/2021ECDN0019.

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Cette thèse propose un nouveau concept de robot de manipulation aérienne appelé Flying Gripper. Ce robot est un manipulateur aérien, destiné à la saisie, la manipulation et le transport de grands objets de manière autonome. Le robot Flying Gripper est composé de quatre quadrotors, de quatre doigts auto-adaptatifs et d'un châssis. Les principaux apports de ces travaux sont: (1) un concept mécanique original reposant sur l'utilisation de plusieurs quadrotors et tirant parti de la rotation en lacet des quadrotors pour actionner un mécanisme de préhension auto-adaptatif et intrinsèquement sûr (2) une méthode pour analyser des torseurs disponibles en tenant compte des contraintes d'égalité et d'inégalité imposées par les limites d'actionnement, les butées mécaniques et les relations d'équilibre; (3) une commande prédictive permettant de manipuler l'objet saisie avec une masse, des inerties et un centre de masse inconnus; (4) un algorithme d'allocation de contrôle dynamique pour la distribution de l'effort de contrôle, de manière à optimiser l'efficacité énergétique et à assurer la continuité de la commande, en considérant les limites mécaniques du robot.Des simulations numériques et des tests expérimentaux ont été effectués pour valider les performances du contrôleur
This thesis proposes a new concept of aerial manipulation robot named Flying Gripper that is intended to perform grasping, manipulating, and transporting of large objects autonomously. The Flying Gripper robot is composed of four quadrotors, four self-adaptive fingers and a body structure. The main contributions of these works are: (1) an original mechanical concept using multiple quadrotors to obtain full manipulability in SE(3) and taking advantage of their yaw rotations to actuate a self-adaptive and intrinsically safe grasping mechanism; (2) a wrench capability analysis method taking into account the equality and inequality constraints imposed by actuation limits, mechanical stops and equilibrium relations; (3) a model predictive controller to deal with unknown mass, inertia and center of mass due to the grasped object; (4) a Dynamic Control Allocation algorithm to distribute the control output in a way that guarantees the continuity of actuator's velocity, improves the energy efficiency and satisfies the robot mechanical limits.Numerical simulations and experimental tests have been carried out to validate the controller performances

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Частини книг з теми "Aerial Mobile Manipulation"

Korpela, Christopher M., Todd W. Danko, and Paul Y. Oh. "MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle." In Recent Developments in Unmanned Aircraft Systems, 93–101. Dordrecht: Springer Netherlands, 2011. http://dx.doi.org/10.1007/978-94-007-3033-5_7.

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Тези доповідей конференцій з теми "Aerial Mobile Manipulation"

Lee, Jameson Y., Zachary Cook, Alexander Barzilov, and Woosoon Yim. "Control of an Aerial Manipulator With an On-Board Balancing Mechanism." In ASME 2016 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/imece2016-66976.

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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.

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Danko, Todd W., and Paul Y. Oh. "Coordinated Visual and Kinematic Servoing for Positioning Manipulating UAV End-Effectors." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34761.

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Manipulating objects using arms mounted to unmanned aerial vehicles (UAVs) is attractive because UAVs may access many locations that are otherwise inaccessible to traditional mobile manipulation platforms such as ground vehicles. However, the constantly moving UAV platform and compliance of manipulator arms make it difficult to position the UAV and end-effector relative to an object of interest precisely enough for reliable manipulation. Solving this challenge will bring UAVs one step closer to being able to perform meaningful tasks such as infrastructure repair, disaster response, law enforcement, and personal assistance. Toward a solution to this challenge, this paper describes an approach to coordinate the redundant degrees of freedom of a six degree of freedom gantry with those of a six degree of freedom manipulator arm. The manipulator’s degrees of freedom are visually servoed to a specified pose relative to a target while treating motions of the host platform as perturbations. Simultaneously, the host platform’s degrees of freedom are servoed using kinematic information from the manipulator. This drives the base of the manipulator to a position that allows it to assume a joint-space configuration that maximizes reachability while minimizing static torque transmitted from the arm to the host.

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Korpela, Christopher M., Todd W. Danko, and Paul Y. Oh. "Designing a system for mobile manipulation from an Unmanned Aerial Vehicle." In 2011 IEEE Conferecne on Technologies for Practical Robot Applications (TePRA). IEEE, 2011. http://dx.doi.org/10.1109/tepra.2011.5753491.

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Caballero, A., M. Bejar, A. Rodriguez-Castano, and A. Ollero. "Motion planning for long reach manipulation in aerial robotic systems with two arms." In 2017 European Conference on Mobile Robots (ECMR). IEEE, 2017. http://dx.doi.org/10.1109/ecmr.2017.8098716.

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Johnson, Shannon, Robert Stroup, John J. Gainer, Levi D. DeVries, and Michael D. Kutzer. "Design of a Robotic Catch and Release Manipulation Architecture (CARMA)." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-71452.

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The exponential growth of commercially available unmanned aerial systems (UAVs) provides a reliable, low-cost platform for mobile sensor deployment. Extensive work exists leveraging large numbers of these platforms for intelligence, surveillance, and reconnaissance (ISR) applications ranging from search and rescue to plume detection and tracking. The proposed Robotic Catch And Release Manipulation Architecture (CARMA) is designed to address flight time limitations of small UAVs, leveraging a robotic manipulation and computer vision to actively compensate for perturbations of the UAV in flight (caused by environmental conditions such as wind) and movements of the recharging station (cause by movement over rough terrain, sea state in maritime applications, etc.). CARMA leverages an industrial robotic manipulator to create a robust system capable of capturing multi-rotor UAVs in an agitated hover. Using a custom-designed end-effector incorporating a monocular camera system, CARMA employs a closed-loop control strategy informed by a relative position and orientation estimate of the UAV using an active marker approach. Results demonstrate UAV tracking accuracy sufficient for capture of a small, CrazyFlie 2.0 UAV. The architecture is deployed on the Universal Robots UR10 manipulator which is able to successfully track the Crazyflie for capture.

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Arora, Prateek, and Christos Papachristos. "Mobile Manipulation–based Deployment of Micro Aerial Robot Scouts through Constricted Aperture-like Ingress Points." In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021. http://dx.doi.org/10.1109/iros51168.2021.9636178.

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Yeol, Joe Woong, Donald Toohey, and Patrick Harrigan. "Design and analysis of a mechanical tentacle system for mobile manipulation of small unmanned aerial vehicles." In 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). IEEE, 2016. http://dx.doi.org/10.1109/urai.2016.7734082.

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Danko, Todd W., and Paul Y. Oh. "A hyper-redundant manipulator for Mobile Manipulating Unmanned Aerial Vehicles." In 2013 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2013. http://dx.doi.org/10.1109/icuas.2013.6564784.

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Abdul Hafez, Osama M., Mohammad A. Jaradat, and Khaled S. Hatamleh. "Stable under-actuated manipulator design for mobile manipulating Unmanned Aerial Vehicle (MM-UAV)." In 2017 7th International Conference on Modeling, Simulation and Applied Optimization (ICMSAO). IEEE, 2017. http://dx.doi.org/10.1109/icmsao.2017.7934879.

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Korpela, Christopher, Matko Orsag, Miles Pekala, and Paul Oh. "Dynamic stability of a mobile manipulating unmanned aerial vehicle." In 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2013. http://dx.doi.org/10.1109/icra.2013.6631280.

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