The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge co...
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ISBN:
(数字)9798350357882
ISBN:
(纸本)9798350357899
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance.
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, ena...
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction.
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge co...
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This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, ena...
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This contribution provides a systematic literature review of micro aerial vehicle (MAV) swarms for indoor industrial applications. First, an initial list of 1997 publications that complies with predefined inclusion cr...
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This paper deals with the problem of coverage path planning for multiple UAVs in disjoint regions. For this purpose, a spiral-coverage path planning algorithm is proposed. Additionally, task assignment methods for mul...
This paper deals with the problem of coverage path planning for multiple UAVs in disjoint regions. For this purpose, a spiral-coverage path planning algorithm is proposed. Additionally, task assignment methods for multi-region inspection with a swarm of UAVs are applied. The centralized system architecture is described, and an adaptive sliding mode controller is designed. Furthermore, we evaluate the performance of the proposed techniques by obtaining numerical results and simulations with the controller. The results show that the spiral pattern optimizes the cost of the mission and improves the task distribution of the mission planning system. Additionally, the performance of the proposed controller is robust to simulated disturbances.
This work dials with the integration of online laboratories into Learning Management Systems. In fact, this work emphasizes the pedagogical advantages that could be achieved with this integration as well as the involv...
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ISBN:
(数字)9781728167329
ISBN:
(纸本)9781728167336
This work dials with the integration of online laboratories into Learning Management Systems. In fact, this work emphasizes the pedagogical advantages that could be achieved with this integration as well as the involved actors, being mainly: students, lecturers and laboratory owners. It also makes an analysis of each actor's requirements and how they can be satisfied by the integration. To achieve this, the use of standards is essential. Authors use an example of online laboratory and integrate it into LMSs by different paths but using the more widespread standards. Finally, the achieved advantages are discussed.
With the rapid development of artificial intelligence (AI) in medical image processing, deep learning in color fundus photography (CFP) analysis is also evolving. Although there are some open-source, labeled datasets ...
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This work presents preliminary results of the control method developed for autonomous inspection of wind turbines. High wind gusts are a major deterrent of outdoor Unmanned Aerial Vehicle (UAV) operations, in which, c...
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ISBN:
(纸本)9781509044962
This work presents preliminary results of the control method developed for autonomous inspection of wind turbines. High wind gusts are a major deterrent of outdoor Unmanned Aerial Vehicle (UAV) operations, in which, common classical control methods such as Proportional-Integral-Derivative (PID) control do not perform well. Therefore, more robust adaptive control methods must be employed. We propose the use of an L 1 adaptive velocity controller that is capable of fast adaptation and guaranteed robustness while withstanding any disturbances encountered during flights. Considerable increase in performance of the L 1 adaptive controller is demonstrated by comparing the proposed approach to a Linear Quadratic Regulator (LQR) method in simulation and a benchmark PID controller in several real flight experiments with added wind gusts.
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