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Towards human-UAV physical interaction and fully actuated aerial vehicles /
Long description: Unmanned Aerial Vehicles' (UAVs) ability to reach places not accessible to humans or other robots and execute tasks makes them unique and is gaining a lot of research interest recently. Initially UAVs were used as surveying and data collection systems, but lately UAVs are also...
| Clasificación: | Libro Electrónico |
|---|---|
| Autor principal: | |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Berlin :
Logos Verlag,
[2018]
|
| Colección: | MPI series in biological cybernetics ;
no. 52. |
| Temas: | |
| Acceso en línea: | Texto completo |
MARC
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| 049 | |a UAMI | ||
| 100 | 1 | |a Rajappa, Sujit, |e author. | |
| 245 | 1 | 0 | |a Towards human-UAV physical interaction and fully actuated aerial vehicles / |c Sujit Rajappa. |
| 264 | 1 | |a Berlin : |b Logos Verlag, |c [2018] | |
| 300 | |a 1 online resource (194 pages) | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 338 | |a online resource |b cr |2 rdacarrier | ||
| 490 | 1 | |a MPI series in biological cybernetics ; |v vol. 52 | |
| 505 | 8 | |a Intro; 1 Introduction; 1.1 Aerial Robotics for Civilian Purpose; 1.2 UAV Platform; 1.3 Motivation; 1.4 Characteristics and Challenges; 1.5 Objectives and Outline of the Thesis; 2 External Wrench Estimation; 2.1 Introduction; 2.1.1 Related Works; 2.1.2 Methodologies; 2.2 Preliminary System Descriptions; 2.2.1 Model of the External Wrench; 2.3 External Wrench (Force/Torque) Observer; 2.4 Disturbance Compensator in Near-Hovering Control; 2.4.1 Standard near-hovering control; 2.4.2 Calculation of roll (fc) and pitch (qc) compensation; 2.5 Simulations and Analysis | |
| 505 | 8 | |a 2.5.1 Hovering with constant wind disturbance2.5.2 Hovering with varying wind disturbance; 2.5.3 Trajectory Tracking with constant wind disturbance; 2.5.4 Trajectory Tracking with varying wind disturbance; 2.6 Experimental Validation; 2.6.1 Force Estimation Experiment; 2.6.2 Torque Estimation Experiment; 2.7 Discussions and Possible Extensions; 3 Novel Architecture for Human-UAV Physical Interaction; 3.1 Introduction; 3.1.1 Related works; 3.1.2 Methodologies; 3.2 Problem Setting; 3.2.1 Preliminary System Descriptions; 3.2.2 Extended Model of the External Wrench; 3.2.3 Force/Torque detectors | |
| 505 | 8 | |a 3.3 System Architecture3.4 Hardware-Software Design; 3.5 Estimation of the External, Interactive and Disturbance Wrenches; 3.5.1 Estimation of the External Wrench; 3.5.2 Estimation of the disturbance and interaction wrenches; 3.6 Control; 3.6.1 Admittance Control; 3.6.2 Trajectory Tracking Control with Wrench Feedforward; 3.7 Hardware-in-the-loop Physical Simulations; 3.8 Experimental Validation; 3.8.1 Continuously Pushing, Sudden Impact and Multiple PoCs; 3.8.2 Trajectory tracking during human interaction with varying stiffness; 3.9 Discussions and Possible Extensions | |
| 505 | 8 | |a 4 Robust Adaptive Super Twisting Control4.1 Introduction; 4.1.1 Related Works; 4.1.2 Methodologies; 4.2 Preliminary System Descriptions; 4.2.1 Dynamic System Model; 4.2.2 Regular Control Form; 4.2.3 Uncertainties; 4.3 Control; 4.3.1 Adaptive Super Twisting Control; 4.3.2 Feedforward Control; 4.4 Physical Simulations; 4.4.1 Experimental Setup; 4.4.2 Robustness of ASTC; 4.4.3 Comparison of ASTC and STC; 4.5 Discussions and Possible Extensions; 5 Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers; 5.1 Introduction; 5.1.1 Related Works; 5.1.2 Methodologies; 5.2 Design and Modeling | |
| 505 | 8 | |a 5.2.1 Static System Description5.2.2 Equations of Motion; 5.3 Control Design; 5.3.1 Exact Feedback Linearization and Decoupling Control; 5.4 A Preliminary Prototype; 5.4.1 Discussion on the Invertibility of J(ah; bh); 5.4.2 Optimization of ah and bh; 5.5 Simulations and Analysis; 5.5.1 Reorienting while hovering with external disturbance; 5.5.2 6 DoF trajectory tracking; 5.6 Hexarotor Prototype; 5.6.1 Hardware; 5.6.2 Software; 5.7 Experimental Validation; 5.7.1 Hovering and Reorienting; 5.7.2 6 DoF Trajectory Tracking; 5.8 Discussions and Possible Extensions | |
| 505 | 8 | |a 6 Human-UAV Physical Interaction with a Fully Actuated UAV | |
| 588 | 0 | |a Online resource; title from digital title page (viewed on March 06, 2019). | |
| 520 | |a Long description: Unmanned Aerial Vehicles' (UAVs) ability to reach places not accessible to humans or other robots and execute tasks makes them unique and is gaining a lot of research interest recently. Initially UAVs were used as surveying and data collection systems, but lately UAVs are also efficiently employed in aerial manipulation and interaction tasks. In recent times, UAV interaction with the environment has become a common scenario, where manipulators are mounted on top of such systems. Current applications has driven towards the direction of UAVs and humans coexisting and sharing the same workspace, leading to the emerging futuristic domain of Human-UAV physical interaction. The research in this thesis initially addresses the delicate problem of external wrench (force/torque) estimation in aerial vehicles which is executable during flight without any additional sensors. Thereafter a novel architecture is proposed, allowing humans to physically interact with a UAV through the employment of sensor-ring structure and the developed external wrench estimator. The methodologies and algorithms to distinguish forces and torques derived by physical interaction with a human from the disturbance wrenches (due to e.g., wind) are defined through an optimization problem. Furthermore, an admittance-impedance control strategy is employed to act on them differently. This new hardware/software architecture allows for the safe human-UAV physical interaction through exchange of forces. But at the same time, other limitations such as the inability to exchange torques due to the underactuation of quadrotors and the need for a robust controller become evident. In order to improve the robust performance of the UAV, an adaptive super twisting sliding mode controller that works efficiently against parameter uncertainties, unknown dynamics and external perturbations is implemented. In addition, a novel fully actuated tilted propeller hexarotor UAV is designed along with the exact feedback linearization controller and the tilt angles are optimized in order to minimize power consumption, thereby improving the flight time. This fully actuated hexarotor could reorient while hovering and perform 6DoF (Degrees of Freedom) trajectory tracking. Eventually, the external wrench observer, interaction techniques, hardware design, software framework, the robust controller and the different methodologies are put together into the development of Human-UAV physical interaction with fully actuated Hexarotor UAV. This framework allows humans and UAVs to exchange forces as well as torques, becoming the next generation platform for the aerial manipulation and human physical interaction with UAVs. | ||
| 590 | |a ProQuest Ebook Central |b Ebook Central Academic Complete | ||
| 650 | 0 | |a Drone aircraft. | |
| 650 | 0 | |a Human engineering. | |
| 650 | 2 | |a Ergonomics | |
| 650 | 2 | |a Unmanned Aerial Devices | |
| 650 | 6 | |a Drones. | |
| 650 | 6 | |a Ergonomie. | |
| 650 | 7 | |a drone airplanes. |2 aat | |
| 650 | 7 | |a ergonomics. |2 aat | |
| 650 | 7 | |a Drone aircraft |2 fast | |
| 650 | 7 | |a Human engineering |2 fast | |
| 758 | |i has work: |a Towards HumanV Physical Interaction and Fully Actuated Aerial Vehicles (Text) |1 https://id.oclc.org/worldcat/entity/E39PCG67P9d7M44h344dd6J4Md |4 https://id.oclc.org/worldcat/ontology/hasWork | ||
| 776 | 0 | 8 | |i Print version: |a Rajappa, Sujit. |t Towards Human-UAV Physical Interaction and Fully Actuated Aerial Vehicles. |d Berlin : Logos Verlag Berlin, ©2018 |z 9783832547677 |
| 830 | 0 | |a MPI series in biological cybernetics ; |v no. 52. | |
| 856 | 4 | 0 | |u https://ebookcentral.uam.elogim.com/lib/uam-ebooks/detail.action?docID=5639048 |z Texto completo |
| 938 | |a ProQuest Ebook Central |b EBLB |n EBL5639048 | ||
| 938 | |a YBP Library Services |b YANK |n 15974179 | ||
| 938 | |a EBSCOhost |b EBSC |n 1998603 | ||
| 994 | |a 92 |b IZTAP | ||