相关论文: Swashplateless-elevon Actuation for a Dual-rotor T…
This study presents a comprehensive computational investigation of outwash phenomena generated by electric vertical takeoff and landing (eVTOL) aircraft, with particular emphasis on how rotor geometry and alignment shape hazardous airflow…
Autonomous tracking of suspicious unmanned aerial vehicles (UAVs) by legitimate monitoring UAVs (or monitors) can be crucial to public safety and security. It is non-trivial to optimize the trajectory of a monitor while conceiving its…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
Designing tunable resonators is of practical importance in active/adaptive sound generation, noise control, vibration isolation and damping. In this paper, we propose to exploit the biasing fields (induced by internal pressure and radial…
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…
Autonomous Underwater Vehicles (AUVs) are a highly promising technology for ocean exploration and diverse offshore operations, yet their practical deployment is constrained by energy efficiency and endurance. To address this, we propose…
This paper considers an unmanned aerial vehicle (UAV)-enabled wireless power transfer (WPT) system, in which a UAV equipped with a directional antenna is dispatched to deliver wireless energy to charge two energy receivers (ERs) on the…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the…
Material properties of soft electro-active (SEA) structures are significantly sensitive to external electro-mechanical biasing fields (such as pre-stretch and electric stimuli), which generate remarkable knock-on effects on their dynamic…
In this work, we present Tilt-Ropter, a novel hybrid aerial-terrestrial vehicle (HATV) that combines tilt rotors with passive wheels to achieve energy-efficient multi-mode locomotion. Unlike existing under-actuated HATVs, the fully actuated…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload delivery. The proposed design combines vertical takeoff and landing…
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may…
This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
Current approaches using sequential networks have shown promise in estimating field variables for dynamical systems, but they are often limited by high rollout errors. The unresolved issue of rollout error accumulation results in unreliable…
Due to Unmanned aerial vehicles (UAVs) limitations in processing power and battery lifetime. The tethered UAV (TUAV) offers an attractive approach to answer these shortcomings. Since a tethered connected to UAV is one potential energy…
In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…
Unmanned aerial vehicles (UAVs) operating in cluttered environments require efficient and accurate impact modeling to maintain stability post collisions, however classical impulse contact models decouple the normal and tangential…