AIRobots ASL Project Presentation
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The document discusses aerial inspection robots being developed at the Autonomous Systems Lab in Zurich. The robots use a coaxial rotor system with a single motor and swashplate for control. They have a composite airframe and sensors for visual inspection and contact-based inspection of structures like plant walls and coal nozzles. The lab is developing physically consistent flight models through system identification to understand the robot's dynamics and compensate for resonances during inspection maneuvers like docking and sliding along vertical and lateral surfaces.
![Z端richAutonomous Systems Lab
Hybrid Model:
Free-Flight Dynamics
Dynamics during Contact
Collision dynamics
Hybrid Model
Ensure global stability of
the system Perform Wall
Inspection Maneuvers
Receding Horizon Control
Coupled Gain
Scheduled Loops
with Resonance
Compensation
Attitude Control
[Position, Orientation]
[Force]
Hybrid Modeling & Control
Hybrid Model of the global Free Flying Contact
dynamics account for collisions
Hybrid Receding Horizon Control Strategy to
ensure global stability
Unified controller for free-flight trajectory control
and Wall Inspection Maneuvers (i.e.
Docking/Sliding)](https://image.slidesharecdn.com/airobotsprojectpresentationethnotimingsvsmall-130512135511-phpapp01/85/AIRobots-ASL-Project-Presentation-7-320.jpg)
AIRobots ASL Project Presentation
- 2. AutonomousSystemsLab Z端rich Aerial Inspection Robots Make Plant Maintenance Efficient Visual Inspection & Inspection by Contact 80m 30 m Wall-thickness sampling Coal nozzle inspection
- 3. AutonomousSystemsLab Z端richName - Short Title3 AIRobots Coaxial Rotor System Coaxial Rotor Configuration Single BLDC-Motor Collective/Cyclic Pitch Mixing Swashplate Bell-Hiller Flybar Composite Airframe High/Low-Level Pocessing & Sensing Units
- 4. AutonomousSystemsLab Z端richName - Short Title Understanding the Flight System Specific Free-Flight Dynamics Rotor Flapping Dynamics Inflow Dynamics Bell-Hiller Flybar Derive Physically Consistant Flight Model Aerodynamics Structural Dynamics
- 5. AutonomousSystemsLab Z端rich Understanding the Flight System First-Principles Modeling Support Mechanical Design Process Initialize and Constrain System ID System ID Match Vehicle Flight Data System Identification under Constraints Prediction using Physical Parameters
- 6. AutonomousSystemsLab Z端rich Resonance Excitation Model Fidelity and Compensation Resonance Compensation Activation Implementation of a Notch Filter at its frequency. Adjust the controller gains based on rate of rotation , 慮 references p, q experimental responses p, q identified model predictions
- 7. Z端richAutonomous Systems Lab Hybrid Model: Free-Flight Dynamics Dynamics during Contact Collision dynamics Hybrid Model Ensure global stability of the system Perform Wall Inspection Maneuvers Receding Horizon Control Coupled Gain Scheduled Loops with Resonance Compensation Attitude Control [Position, Orientation] [Force] Hybrid Modeling & Control Hybrid Model of the global Free Flying Contact dynamics account for collisions Hybrid Receding Horizon Control Strategy to ensure global stability Unified controller for free-flight trajectory control and Wall Inspection Maneuvers (i.e. Docking/Sliding)
- 8. AutonomousSystemsLab Z端richAIRobots Coaxial-rotor Prototype Docking Lateral Sliding
- 9. AutonomousSystemsLab Z端rich Docking Vertical Sliding