Title: Modeling and Identification of Coupled Translational and Rotational Motion of Underactuated Indoor Miniature Autonomous Blimps
Swing oscillation is widely observed among indoor miniature autonomous blimps (MABs) due to their underactuated design and unique aerodynamic shape. A detailed dynamics model is critical for investigating this undesired movement and designing controllers to stabilize the oscillation. This paper presents a motion model that describes the coupled translational and rotational movements of a typical indoor MAB with saucer- shaped envelope. The kinematics and dynamic model of the MAB are simplified from the six-degrees-of-freedom (6-DOF) Newton–Euler equations of underwater vehicles. The model is then reduced to 3-DOF given the symmetrical design of the MAB around its vertical axis. Parameters of the motion model are estimated from the system identification experiments, and validated with experimental data. more »« less
Swing oscillation is widely observed among indoor miniature autonomous blimps (MABs) due to their underactuated design and unique aerodynamic shape. This paper presents the modeling, identification and control system design that reduce the swing oscillation of an MAB during hovering flight. We establish a dynamic model to describe the swing motion of the MAB. The model parameters are identified from both physical measurements, computer modeling and experimental data captured during flight. A control system is designed to stabilize the swing motion with features including low latency and center-of-mass (CM) position estimation. The modeling and control methods are verified with the Georgia-Tech Miniature Autonomous Blimp (GT-MAB) during hovering flight. The experimental results show that the proposed methods can effectively reduce the swing oscillation of GT-MAB.
Seguin, Landan; Zheng, Justin; Li, Alberto; Tao, Qiuyang; Zhang, Fumin(
, IEEE International Conference on Control and Automation (ICCA))
null
(Ed.)
The Georgia Tech Miniature Autonomous Blimp (GT-MAB) needs localization algorithms to navigate to way-points in an indoor environment without leveraging an external motion capture system. Indoor aerial robots often require a motion capture system for localization or employ simultaneous localization and mapping (SLAM) algorithms for navigation. The proposed strategy for GT-MAB localization can be accomplished using lightweight sensors on a weight-constrained platform like the GT-MAB. We train an end-to-end convolutional neural network (CNN) that predicts the horizontal position and heading of the GT-MAB using video collected by an onboard monocular RGB camera. On the other hand, the height of the GT-MAB is estimated from measurements through a time-of-flight (ToF) single-beam laser sensor. The monocular camera and the single-beam laser sensor are sufficient for the localization algorithm to localize the GT-MAB in real time, achieving the averaged 3D positioning errors to be less than 20 cm, and the averaged heading errors to be less than 3 degrees. With the accuracy of our proposed localization method, we are able to use simple proportional-integral-derivative controllers to control the GT-MAB for waypoint navigation. Experimental results on the waypoint following are provided, which demonstrates the use of a CNN as the primary localization method for estimating the pose of an indoor robot that successfully enables navigation to specified waypoints.
Elephant trunks are capable of complex, multimodal deformations, allowing them to perform task‐oriented high‐degree‐of‐freedom (DOF) movements pertinent to the field of soft actuators. Despite recent advances, most soft actuators can only achieve one or two deformation modes, limiting their motion range and applications. Inspired by the elephant trunk musculature, a liquid crystal elastomer (LCE)‐based multi‐fiber design strategy is proposed for soft robotic arms in which a discrete number of artificial muscle fibers can be selectively actuated, achieving multimodal deformations and transitions between modes for continuous movements. Through experiments, finite element analysis (FEA), and a theoretical model, the influence of LCE fiber design on the achievable deformations, movements, and reachability of trunk‐inspired robotic arms is studied. Fiber geometry is parametrically investigated for 2‐fiber robotic arms and the tilting and bending of these arms is characterized. A 3‐fiber robotic arm is additionally studied with a simplified fiber arrangement analogous to that of an actual elephant trunk. The remarkably broad range of deformations and the reachability of the arm are discussed, alongside transitions between deformation modes for functional movements. It is anticipated that this design and actuation strategy will serve as a robust method to realize high‐DOF soft actuators for various engineering applications.
Van Den Einde, Lelli; Conte, Joel P.; Restrepo, José I.; Bustamante, Ricardo; Halvorson, Marty; Hutchinson, Tara C.; Lai, Chin-Ta; Lotfizadeh, Koorosh; Luco, J. Enrique; Morrison, Machel L.; et al(
, Frontiers in Built Environment)
null
(Ed.)
Since its commissioning in 2004, the UC San Diego Large High-Performance Outdoor Shake Table (LHPOST) has enabled the seismic testing of large structural, geostructural and soil-foundation-structural systems, with its ability to accurately reproduce far- and near-field ground motions. Thirty-four (34) landmark projects were conducted on the LHPOST as a national shared-use equipment facility part of the National Science Foundation (NSF) Network for Earthquake Engineering Simulation (NEES) and currently Natural Hazards Engineering Research Infrastructure (NHERI) programs, and an ISO/IEC Standard 17025:2005 accredited facility. The tallest structures ever tested on a shake table were conducted on the LHPOST, free from height restrictions. Experiments using the LHPOST generate essential knowledge that has greatly advanced seismic design practice and response predictive capabilities for structural, geostructural, and non-structural systems, leading to improved earthquake safety in the community overall. Indeed, the ability to test full-size structures has made it possible to physically validate the seismic performance of various systems that previously could only be studied at reduced scale or with computer models. However, the LHPOST's limitation of 1-DOF (uni-directional) input motion prevented the investigation of important aspects of the seismic response of 3-D structural systems. The LHPOST was originally conceived as a six degrees-of-freedom (6-DOF) shake table but built as a single degree-of-freedom (1-DOF) system due to budget limitations. The LHPOST is currently being upgraded to 6-DOF capabilities. The 6-DOF upgraded LHPOST (LHPOST6) will create a unique, large-scale, high-performance, experimental research facility that will enable research for the advancement of the science, technology, and practice in earthquake engineering. Testing of infrastructure at large scale under realistic multi-DOF seismic excitation is essential to fully understand the seismic response behavior of civil infrastructure systems. The upgraded 6-DOF capabilities will enable the development, calibration, and validation of predictive high-fidelity mathematical/computational models, and verifying effective methods for earthquake disaster mitigation and prevention. Research conducted using the LHPOST6 will improve design codes and construction standards and develop accurate decision-making tools necessary to build and maintain sustainable and disaster-resilient communities. Moreover, it will support the advancement of new and innovative materials, manufacturing methods, detailing, earthquake protective systems, seismic retrofit methods, and construction methods. This paper will provide a brief overview of the 1-DOF LHPOST and the impact of some past landmark projects. It will also describe the upgrade to 6-DOF and the new seismic research and testing that the LHPOST6 facility will enable.
This paper introduces a novel cable-driven robotic platform that enables six degrees-of-freedom (DoF) natural head–neck movements. Poor postural control of the head–neck can be a debilitating symptom of neurological disorders such as amyotrophic lateral sclerosis and cerebral palsy. Current treatments using static neck collars are inadequate, and there is a need to develop new devices to empower movements and facilitate physical rehabilitation of the head–neck. State-of-the-art neck exoskeletons using lower DoF mechanisms with rigid linkages are limited by their hard motion constraints imposed on head–neck movements. By contrast, the cable-driven robot presented in this paper does not constrain motion and enables wide-range, 6-DoF control of the head–neck. We present the mechatronic design, validation, and control implementations of this robot, as well as a human experiment to demonstrate a potential use case of this versatile robot for rehabilitation. Participants were engaged in a target reaching task while the robot applied both assistive and resistive moments on the head during the task. Our results show that neck muscle activation increased by 19% when moving the head against resistance and decreased by 28–43% when assisted by the robot. Overall, these results provide a scientific justification for further research in enabling movement and identifying personalized rehabilitation for motor training. Beyond rehabilitation, other applications such as applying force perturbations on the head to study sensory integration and applying traction to achieve pain relief may benefit from the innovation of this robotic platform which is capable of applying controlled 6-DoF forces/moments on the head.
Tao, Qiuyang, Hou, Mengxue, and Zhang, Fumin. Modeling and Identification of Coupled Translational and Rotational Motion of Underactuated Indoor Miniature Autonomous Blimps. Retrieved from https://par.nsf.gov/biblio/10212088. 16th International Conference on Control, Automation, Robotics and Vision (ICARCV) . Web. doi:10.1109/ICARCV50220.2020.9305371.
Tao, Qiuyang, Hou, Mengxue, & Zhang, Fumin. Modeling and Identification of Coupled Translational and Rotational Motion of Underactuated Indoor Miniature Autonomous Blimps. 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), (). Retrieved from https://par.nsf.gov/biblio/10212088. https://doi.org/10.1109/ICARCV50220.2020.9305371
Tao, Qiuyang, Hou, Mengxue, and Zhang, Fumin.
"Modeling and Identification of Coupled Translational and Rotational Motion of Underactuated Indoor Miniature Autonomous Blimps". 16th International Conference on Control, Automation, Robotics and Vision (ICARCV) (). Country unknown/Code not available. https://doi.org/10.1109/ICARCV50220.2020.9305371.https://par.nsf.gov/biblio/10212088.
@article{osti_10212088,
place = {Country unknown/Code not available},
title = {Modeling and Identification of Coupled Translational and Rotational Motion of Underactuated Indoor Miniature Autonomous Blimps},
url = {https://par.nsf.gov/biblio/10212088},
DOI = {10.1109/ICARCV50220.2020.9305371},
abstractNote = {Swing oscillation is widely observed among indoor miniature autonomous blimps (MABs) due to their underactuated design and unique aerodynamic shape. A detailed dynamics model is critical for investigating this undesired movement and designing controllers to stabilize the oscillation. This paper presents a motion model that describes the coupled translational and rotational movements of a typical indoor MAB with saucer- shaped envelope. The kinematics and dynamic model of the MAB are simplified from the six-degrees-of-freedom (6-DOF) Newton–Euler equations of underwater vehicles. The model is then reduced to 3-DOF given the symmetrical design of the MAB around its vertical axis. Parameters of the motion model are estimated from the system identification experiments, and validated with experimental data.},
journal = {16th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
author = {Tao, Qiuyang and Hou, Mengxue and Zhang, Fumin},
editor = {null}
}
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