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Hybrid Predictive Control For Aerial Robotic Physical Interaction Towards Inspection Operations
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Book Synopsis Hybrid Predictive Control for Aerial Robotic Physical Interaction Towards Inspection Operations by : Georgios Darivianakis
Download or read book Hybrid Predictive Control for Aerial Robotic Physical Interaction Towards Inspection Operations written by Georgios Darivianakis and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Springer Handbook of Robotics by : Bruno Siciliano
Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Book Synopsis ROBOT 2017: Third Iberian Robotics Conference by : Anibal Ollero
Download or read book ROBOT 2017: Third Iberian Robotics Conference written by Anibal Ollero and published by Springer. This book was released on 2017-11-10 with total page 913 pages. Available in PDF, EPUB and Kindle. Book excerpt: These volumes of "Advances in Intelligent Systems and Computing" highlight papers presented at the "Third Iberian Robotics Conference (ROBOT 2017)". Held from 22 to 24 November 2017 in Seville, Spain, the conference is a part of a series of conferences co-organized by SEIDROB (Spanish Society for Research and Development in Robotics) and SPR (Portuguese Society for Robotics). The conference is focused on Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other countries. Thus, it has more than 500 authors from 21 countries. The volumes present scientific advances but also robotic industrial applications, looking to promote new collaborations between industry and academia.
Book Synopsis Advances in Visual Computing by : George Bebis
Download or read book Advances in Visual Computing written by George Bebis and published by Springer. This book was released on 2015-12-17 with total page 942 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two volume set LNCS 9474 and LNCS 9475 constitutes the refereed proceedings of the 11th International Symposium on Visual Computing, ISVC 2015, held in Las Vegas, NV, USA in December 2015. The 115 revised full papers and 35 poster papers presented in this book were carefully reviewed and selected from 260 submissions. The papers are organized in topical sections: Part I (LNCS 9474) comprises computational bioimaging; computer graphics; motion and tracking; segmentation; recognition; visualization; mapping; modeling and surface reconstruction; advancing autonomy for aerial robotics; medical imaging; virtual reality; observing humans; spectral imaging and processing; intelligent transportation systems; visual perception and robotic systems. Part II (LNCS 9475): applications; 3D computer vision; computer graphics; segmentation; biometrics; pattern recognition; recognition; and virtual reality.
Book Synopsis Aerial Manipulation by : Matko Orsag
Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Book Synopsis Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation by : Burak Yüksel
Download or read book Design, Modeling and Control of Aerial Robots for Physical Interaction and Manipulation written by Burak Yüksel and published by Logos Verlag Berlin GmbH. This book was released on 2017-06-10 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.
Book Synopsis Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers by : Marco Tognon
Download or read book Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers written by Marco Tognon and published by Springer Nature. This book was released on 2020-06-26 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction. The formal analysis covers topics ranging from control, state estimation, and motion planning, to experimental validation. Addressing both theoretical and technical aspects, the book is intended for a broad academic and industrial readership, including undergraduate students, researchers and engineers. It can be used as a teaching reference, or as the basis for product development.
Book Synopsis Robot Operating System (ROS) by : Anis Koubaa
Download or read book Robot Operating System (ROS) written by Anis Koubaa and published by Springer. This book was released on 2017-05-25 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: This second volume is a continuation of the successful first volume of this Springer book, and as well as addressing broader topics it puts a particular focus on unmanned aerial vehicles (UAVs) with Robot Operating System (ROS). Consisting of three types of chapters: tutorials, cases studies, and research papers, it provides comprehensive additional material on ROS and the aspects of developing robotics systems, algorithms, frameworks, and applications with ROS. ROS is being increasingly integrated in almost all kinds of robots and is becoming the de-facto standard for developing applications and systems for robotics. Although the research community is actively developing applications with ROS and extending its features, amount of literature references is not representative of the huge amount of work being done. The book includes 19 chapters organized into six parts: Part 1 presents the control of UAVs with ROS, while in Part 2, three chapters deal with control of mobile robots. Part 3 provides recent work toward integrating ROS with Internet, cloud and distributed systems. Part 4 offers five case studies of service robots and field experiments. Part 5 presents signal-processing tools for perception and sensing, and lastly, Part 6 introduces advanced simulation frameworks. The diversity of topics in the book makes it a unique and valuable reference resource for ROS users, researchers, learners and developers.
Book Synopsis 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) by : IEEE Staff
Download or read book 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) written by IEEE Staff and published by . This book was released on 2021-10-04 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The Scope includes technologies, functionalities, regulation and safety Issues, applications and education related to aerial manipulation and transportation The technologies are Aerial Manipulation, Soft aerial robots and compliance, Bio inspiration, Teleoperation, Hybrid aerial marine ground, Air ground Air ground marine Air marine interaction, Recharging Refueling, Multi robot cooperation with physical interaction The functionalities include Contact inspection, Transportation, Deployment and retrieval, Co working with humans, Sampling, Cleaning, complex environment exploration There scope also includes regulation and safety issues involving risk analysis and Applications including Infrastructure Inspection and Maintenance, Agriculture, Construction, Environment protection, Fire fighting and Health care Finally, the education includes educational prototypes and software tools
Book Synopsis Aerial Robotic Manipulation by : Anibal Ollero
Download or read book Aerial Robotic Manipulation written by Anibal Ollero and published by Springer. This book was released on 2019-06-27 with total page 385 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.
Book Synopsis Aerial Robotics for Inspection and Maintenance by : Alejandro Suarez
Download or read book Aerial Robotics for Inspection and Maintenance written by Alejandro Suarez and published by Mdpi AG. This book was released on 2022-07-05 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial robots with perception, navigation, and manipulation capabilities are extending the range of applications of drones, allowing the integration of different sensor devices and robotic manipulators to perform inspection and maintenance operations on infrastructures such as power lines, bridges, viaducts, or walls, involving typically physical interactions on flight. New research and technological challenges arise from applications demanding the benefits of aerial robots, particularly in outdoor environments. This book collects eleven papers from different research groups from Spain, Croatia, Italy, Japan, the USA, the Netherlands, and Denmark, focused on the design, development, and experimental validation of methods and technologies for inspection and maintenance using aerial robots.
Book Synopsis Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence by : Teodor Tomić
Download or read book Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence written by Teodor Tomić and published by Springer Nature. This book was released on 2022-10-07 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.
Book Synopsis Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots by : Christos Papachristos
Download or read book Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots written by Christos Papachristos and published by . This book was released on 2018 with total page 71 pages. Available in PDF, EPUB and Kindle. Book excerpt: This review paper aims to provide an overview of core modeling, control, estimation, and planning concepts and approaches for micro aerial robots of the rotorcraft class. A comprehensive description of a set of methods that enable automated flight control, state estimation in GPS–denied environments, as well as path planning techniques for autonomous exploration is provided, and serves as a holistic point of reference for those interested in the field of unmanned aerial systems. Further discussion for other applications of aerial robots concludes this manuscript.
Book Synopsis Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles with Applications to Aerial Physical Interaction Tasks by : Davide Bicego
Download or read book Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles with Applications to Aerial Physical Interaction Tasks written by Davide Bicego and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the surrounding environment, with particular attention to the development of modeling and design techniques, and suitable control strategies for these systems. Due to the intrinsic difficulty and the novelty associated with the study of these systems, new techniques are needed to: i) better describe the aerial vehicle dynamics and its actuation limits; ii) effectively design new aerial prototypes with particular properties of dexterity and resilience; iii) guarantee a stable control during contact-less operations despite the actuation limits; and iv) preserve the system stability also during the contact phase with the environment while guaranteeing the fulfillment of the sought manipulation task. This thesis explores new strategies to overcome, to a certain extent, the under-actuation problem of classical multi-rotor platforms, conceived with the propellers aligned towards a common direction. The goal of this thesis is to contribute to a wise growth of the preliminary theoretical results on multi-directional thrust aerial vehicles laid by the state of the art and, furthermore, to the development of more suitable real aerial robotic systems with enhanced manipulation means, tailored for aerial physical interaction tasks. This thesis takes place inside the context of the European H2020 AeroArms project, whose goal is to develop aerial robotic systems with advanced manipulation capabilities to be applied in industrial inspection and maintenance. Hence, also the technology transfer and the impact on the industry plays here an important role.
Book Synopsis Robot Operating System (ROS) by : Anis Koubaa
Download or read book Robot Operating System (ROS) written by Anis Koubaa and published by Springer. This book was released on 2019-06-28 with total page 225 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the fourth volume of the successful series Robot Operating Systems: The Complete Reference, providing a comprehensive overview of robot operating systems (ROS), which is currently the main development framework for robotics applications, as well as the latest trends and contributed systems. The book is divided into four parts: Part 1 features two papers on navigation, discussing SLAM and path planning. Part 2 focuses on the integration of ROS into quadcopters and their control. Part 3 then discusses two emerging applications for robotics: cloud robotics, and video stabilization. Part 4 presents tools developed for ROS; the first is a practical alternative to the roslaunch system, and the second is related to penetration testing. This book is a valuable resource for ROS users and wanting to learn more about ROS capabilities and features.
Book Synopsis Autonomous Flying Robots by : Kenzo Nonami
Download or read book Autonomous Flying Robots written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2010-09-15 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.
Book Synopsis Autonomous and Autonomic Systems: With Applications to NASA Intelligent Spacecraft Operations and Exploration Systems by : Walt Truszkowski
Download or read book Autonomous and Autonomic Systems: With Applications to NASA Intelligent Spacecraft Operations and Exploration Systems written by Walt Truszkowski and published by Springer Science & Business Media. This book was released on 2009-11-12 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the early 1990s, NASA Goddard Space Flight Center started researching and developing autonomous and autonomic ground and spacecraft control systems for future NASA missions. This research started by experimenting with and developing expert systems to automate ground station software and reduce the number of people needed to control a spacecraft. This was followed by research into agent-based technology to develop autonomous ground c- trol and spacecraft. Research into this area has now evolved into using the concepts of autonomic systems to make future space missions self-managing and giving them a high degree of survivability in the harsh environments in which they operate. This book describes much of the results of this research. In addition, it aimstodiscusstheneededsoftwaretomakefutureNASAspacemissionsmore completelyautonomousandautonomic.Thecoreofthesoftwareforthesenew missions has been written for other applications or is being applied gradually in current missions, or is in current development. It is intended that this book should document how NASA missions are becoming more autonomous and autonomic and should point to the way of making future missions highly - tonomous and autonomic. What is not covered is the supporting hardware of these missions or the intricate software that implements orbit and at- tude determination, on-board resource allocation, or planning and scheduling (though we refer to these technologies and give references for the interested reader).
