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6 results for “multirotor”
Power Balance Characteristics for Multirotor- and Fixed-Wing-Type UAV-BSs Equipped with RES and RISs
<h2><strong>Overview</strong></h2> <p>The following dataset presents the power balance characteristics for Unmanned Aerial Vehicle Base Stations (UAV-BSs) equipped with Renewable Energy Sources (RES) and Reconfigurable Intelligent Surfaces (RISs). The dataset has been prepared for two different types of UAVs, i.e., multirotor and fixed-wing ones.</p> <h2><strong>Scenario</strong></h2> <p>The considered scenario includes 2 UAV-BSs (each of a different type) equipped with a single RF transceiver and an RIS device and RES — a single photovoltaic panel (PV) and a single wind turbine (WT). The UAV-BSs are placed within the city of Poznan and hover (multirotor) or follow a circular route (fixed-wing) above a single mobile user with fixed traffic demand (100 Mbps downlink — DL, and 50 Mbps uplink — UL). The simulation runs have been performed for 4 dates (vernal equinox, summer solstice, autumn equinox, winter solstice), each one from a different season of the year. The aim of such an approach was to highlight the impact of the time of the day and the year on the energy gain obtained thanks to enabling RES generators as well as on the power consumption of the hardware of each UAV-BS type. The weather conditions assumed within the simulation are typical for the climate in Poland.</p> <h2><strong>Methodology</strong></h2> <p>The power-balance calculations (UAV-BSs' power consumption, renewable energy production) have been based on the mathematical formulas from the scientific literature and performed within the digital simulation runs by using dedicated software developed in Python programming language.</p> <h2><strong>Simulation setup</strong></h2> <p>The setup of the input parameters for used mathematical models (power consumption, energy generation) has been done in accordance with the values attached within the literature positions (cited within the publication included in the <em>Related works</em> section of the following dataset) and adjusted to the considered study. Furthermore, the data used to predict weather conditions are the real data (for the year 2022) collected by the weather stations placed in Poznan. A single simulation run has been performed (which takes into account 2 types of UAV-BS simultaneously and estimates their power balance for 4 seasons of the year), where the time step has been set to 1 hour of the day.</p> <h2><strong>Results</strong></h2> <p>The results of the aforementioned investigations have been included in the attached files (<em>_power_balance_multirotor.csv</em> & <em>_power_balance_fixed_wing.csv</em>). The first column denotes the hour of a particular day. Next, 4 multicolumns have been presented for the following variants — No RES enabled, only PV enabled, only WT enabled, and both types of RES generators enabled. In addition, each multicolumn consists of 4 columns, each of which represents a UAV-BS's hardware power balance (in W) for a different date (season of the year).</p> <h2><strong>Acknowledgment</strong></h2> <p>More details about the conducted study have been described within the attached paper (<em>Related works</em> section). The work (including the following dataset preparation) was realized within project no. 2021/43/B/ST7/01365 funded by the National Science Center in Poland.</p>
A Novel Approach To Surface Operations With Multirotor UAVs
<p><strong>This video shows the indoor experimental evaluation of our latest aerial manipulation system which is capable of brushing surfaces. This is enabled by means of two innovations. The first innovation is a special tool that ‘drives’ over the surface using the friction generated by the interaction forces, while simultaneously applying a tool (here a brush) with a constant force on the surface using a spring. The second innovation is in the control theory, which stabilizes the UAV while allowing this movement. </strong></p> <p><strong>The experiment in the video shows how these innovations are applied to clean a patch on a surface, and is the validation step of the system before working on moving it outdoors towards the realistic scenario.</strong></p>
Multirotor with two arms: multirotor/arms interaction
<p>Unlike fixed base manipulators, in an aerial manipulation robot the reaction wrenches caused by the motion of the arms or the physical interactions raised on flight are supported by the aerial platform, causing typically undesired oscillations in the attitude or deviations in the position that may complicate the realization of grasping tasks or installation operations. Since it is difficult to appreciate this effect on flight due to the action of the autopilot and the noise generated by the propellers, the goal of this dataset is to analyze qualitatively the effect of the motion of a dual arm manipulator over the attitude of a multirotor platform supported by wires, emulating hovering conditions. In particular, it is interesting to evaluate the partial reaction compensation capability of a dual arm manipulator, generating coordinated symmetric trajectories to cancel the reactions in two axes (roll and yaw). The data logs also reveal how the reaction oscillation in the multirotor is higher as the velocity/acceleration of the arms increases.</p> <p>This dataset is obtained with the dual arm aerial manipulator (DJI Matrice 600 hexarotor equipped with USE dual arm) hanging from four cables attached to the multirotor base emulating hovering conditions. Although the datasets presented here were obtained with a particular platform and dual arm manipulator, these may result of interest for a preliminary analysis of the dynamic coupling effect. The orientation data was obtained with a STM32F3 Discovery board attached to the multirotor base, providing the measurements from the accelerometer, gyroscope and magnetometer sensors. The arms are built with the Herkulex DRS-0402 and DRS-0602 servos and a customized aluminium frame structure. The experiments consist of generating a sequence of rotations around the shoulder pitch and shoulder yaw joints with one arm (non-compensated reaction wrenches) and with both arms (partial reaction compensation), considering different joint speeds. The measurement given by the gyroscope in the roll-pitch-yaw angles is evaluated to analyze the amplitude of the reaction wrenches.</p>
Flights of a Multirotor UAS with Structural Faults: Failures on Composite Propeller(s)
<p>Data acquired from several flights of a custom-fabricated Hexacopter UAS with composite structure (carbon fiber arms and central hub) and composite (carbon fiber) propellers is presented here. The Hexacopter was assembled from a commercially available kit (Tarot 690) and was flown in manual and autonomous mode; take-offs and landings were under manual control and the bulk of the flight tests were conducted with the Hexacopter in a “Position Hold” mode. All flights were flown within the UAS flight cage at Parks College of Engineering, Aviation and Technology at Saint Louis University, for approximately 5 minutes each. Several failure conditions (different types of manually induced) on the composite (carbon fiber) propellers were tested, including failures on up to two propellers. The data set described in this article contains flight data from the onboard flight controller (Pixhawk) as well as three 3-axis accelerometers mounted on the arms of the Hexacopter UAS. The data is included as supplemental material.</p>
UAV-FD: a dataset for actuator fault detection in multirotor drones
<p>This dataset collects real flight data from a hexarotor under the effects of a chipped blade. A conventional ArduPilot based controller is employed, where the ArduPilot firmware is customized to increase the signal logging rate of the IMU variables, thus capturing enough information at higher frequencies. Additional variables are available, including on-board measurements, commands, estimations, and parameters; in particular, the actual speed of each motor is measured as well.</p> <p>The purpose of the UAV-FD dataset is to accelerate the research on actuator fault diagnosis for multirotor vehicles.</p>
Aerial multirotors with two arms
<p>This dataset includes the data from 5 experiments with a dual arm aerial manipulator. The methods implemented for these experiments are described in the paper:</p> <p>[1] E. Cataldi, F. Real, A. Suarez, P.A. Di Lillo, F. Pierri, G. Antonelli, F. Caccavale, G. Heredia, A. Ollero: "Set-based Inverse Kinematics Control in an Anthropomorphic Dual Arm Aerial Manipulator", in ICRA 2019.</p> <p>The dual arm manipulator is described in:</p> <p>[2] A. Suarez, G. Heredia and A. Ollero, "Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation," in IEEE Access, vol. 6, pp. 29173-29189, 2018.</p> <p> </p>
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