東華大學圖書館 |

Design, Fabrication, and Soft Impact Modeling and Simulation of a Collision-Resilient Foldable Micro Quadcopter = = Carpismaya Dayanikli, Mi̇kro ve Dort Pervaneli̇ Heli̇kopter Robotlarin Tasarimi, Ureti̇mi̇, Yumusak Darbe Modellemesi̇ ve Si̇mulasyonu.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Design, Fabrication, and Soft Impact Modeling and Simulation of a Collision-Resilient Foldable Micro Quadcopter =/
其他題名:	Carpismaya Dayanikli, Mi̇kro ve Dort Pervaneli̇ Heli̇kopter Robotlarin Tasarimi, Ureti̇mi̇, Yumusak Darbe Modellemesi̇ ve Si̇mulasyonu.
其他題名:	Carpismaya Dayanikli, Mi̇kro ve Dort Pervaneli̇ Heli̇kopter Robotlarin Tasarimi, Ureti̇mi̇, Yumusak Darbe Modellemesi̇ ve Si̇mulasyonu.
作者:	Abazari, Amirali.
面頁冊數:	1 online resource (124 pages)
附註:	Source: Masters Abstracts International, Volume: 84-05.
Contained By:	Masters Abstracts International84-05.
標題:	Global positioning systems--GPS. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30158283click for full text (PQDT)
ISBN:	9798352987957

Design, Fabrication, and Soft Impact Modeling and Simulation of a Collision-Resilient Foldable Micro Quadcopter = = Carpismaya Dayanikli, Mi̇kro ve Dort Pervaneli̇ Heli̇kopter Robotlarin Tasarimi, Ureti̇mi̇, Yumusak Darbe Modellemesi̇ ve Si̇mulasyonu.
Abazari, Amirali.

Design, Fabrication, and Soft Impact Modeling and Simulation of a Collision-Resilient Foldable Micro Quadcopter =Carpismaya Dayanikli, Mi̇kro ve Dort Pervaneli̇ Heli̇kopter Robotlarin Tasarimi, Ureti̇mi̇, Yumusak Darbe Modellemesi̇ ve Si̇mulasyonu.Carpismaya Dayanikli, Mi̇kro ve Dort Pervaneli̇ Heli̇kopter Robotlarin Tasarimi, Ureti̇mi̇, Yumusak Darbe Modellemesi̇ ve Si̇mulasyonu. - 1 online resource (124 pages)

Source: Masters Abstracts International, Volume: 84-05.

Thesis (M.Sc.)--Bilkent Universitesi (Turkey), 2022.

Includes bibliographical references

Despite the appreciable advancements in mobile robot navigation and obstacle avoidance algorithms using an abundance of sensors and sensor fusion methods, the navigation of moving robots through confined and cluttered spaces is still a great challenge. The physical interaction and collision between mobile robots and surrounding obstacles in these environments are unavoidable. This becomes more concerning for the case of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) that the system is naturally unstable, and a minor fault or disturbance may result in severe crashes. In this thesis, a Collision-Resilient Quad-rotor Micro Aerial Vehicle (MAV) is designed using the Origami-inspired design fabrication techniques. The quadcopter is lightweight (220g max) and is designed for outdoor inspection and surveillance missions. This compliant drone provides an stable flight for a duration of 5 − 10 min, depends on the flight condition.A dynamic model is derived for the quadcopter to represent the realistic features designed for this specific UAV. In addition to that, the impact of the compliant body to surrounding obstacles is modeled as visco-elastic contact force and is added to the quadcopter's dynamic model. The contact dynamic friction force between the protective soft bumpers and the surface is also modeled.The developed dynamic model is then used to simulate the impact of the collisionresilient quadcopter in two different simulation environments; MATLAB Simulink and ROS Gazebo. A cascaded PID control scheme is suggested for low-level (attitude) and high-level (global position) control of the drone in experiments and simulation. The result of these soft impact simulations closely imitate the collision-resilient properties of the actual quadcopter in experiments. Coefficient of Restitution (CoR) for the compliant drone impact, both in simulations and experiments, is in the interval [0.5 0.6]. This shows a great capacity for the drone to dampen the collisions.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798352987957Subjects--Topical Terms:

3559357
Global positioning systems--GPS.
Index Terms--Genre/Form:

542853
Electronic books.

Design, Fabrication, and Soft Impact Modeling and Simulation of a Collision-Resilient Foldable Micro Quadcopter = = Carpismaya Dayanikli, Mi̇kro ve Dort Pervaneli̇ Heli̇kopter Robotlarin Tasarimi, Ureti̇mi̇, Yumusak Darbe Modellemesi̇ ve Si̇mulasyonu.
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245 1 0 $a Design, Fabrication, and Soft Impact Modeling and Simulation of a Collision-Resilient Foldable Micro Quadcopter = $b Carpismaya Dayanikli, Mi̇kro ve Dort Pervaneli̇ Heli̇kopter Robotlarin Tasarimi, Ureti̇mi̇, Yumusak Darbe Modellemesi̇ ve Si̇mulasyonu.
246 3 1 $a Carpismaya Dayanikli, Mi̇kro ve Dort Pervaneli̇ Heli̇kopter Robotlarin Tasarimi, Ureti̇mi̇, Yumusak Darbe Modellemesi̇ ve Si̇mulasyonu.
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500 $a Source: Masters Abstracts International, Volume: 84-05.
500 $a Advisor: Ozcan, Onur.
502 $a Thesis (M.Sc.)--Bilkent Universitesi (Turkey), 2022.
504 $a Includes bibliographical references
520 $a Despite the appreciable advancements in mobile robot navigation and obstacle avoidance algorithms using an abundance of sensors and sensor fusion methods, the navigation of moving robots through confined and cluttered spaces is still a great challenge. The physical interaction and collision between mobile robots and surrounding obstacles in these environments are unavoidable. This becomes more concerning for the case of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) that the system is naturally unstable, and a minor fault or disturbance may result in severe crashes. In this thesis, a Collision-Resilient Quad-rotor Micro Aerial Vehicle (MAV) is designed using the Origami-inspired design fabrication techniques. The quadcopter is lightweight (220g max) and is designed for outdoor inspection and surveillance missions. This compliant drone provides an stable flight for a duration of 5 − 10 min, depends on the flight condition.A dynamic model is derived for the quadcopter to represent the realistic features designed for this specific UAV. In addition to that, the impact of the compliant body to surrounding obstacles is modeled as visco-elastic contact force and is added to the quadcopter's dynamic model. The contact dynamic friction force between the protective soft bumpers and the surface is also modeled.The developed dynamic model is then used to simulate the impact of the collisionresilient quadcopter in two different simulation environments; MATLAB Simulink and ROS Gazebo. A cascaded PID control scheme is suggested for low-level (attitude) and high-level (global position) control of the drone in experiments and simulation. The result of these soft impact simulations closely imitate the collision-resilient properties of the actual quadcopter in experiments. Coefficient of Restitution (CoR) for the compliant drone impact, both in simulations and experiments, is in the interval [0.5 0.6]. This shows a great capacity for the drone to dampen the collisions.
520 $a Cok sayida sensor ve sensor birlestirme yontemi kullanan mobil robot navigasy- onu ve engellerden kacinma algoritmalarindaki kayda deger gelismelere ragmen, hareketli robotlarin kapali ve daginik alanlarda navigasyonu hala buyuk bir zor- luktur. Bu robotlarin etrafindaki objelere carpmasi ve bu nesneler ile fiziksel etkilesimde bulunmasi kacinilmazdir. Bu durum dikey inis-kalkis yapabilen in- sansiz hava araclari gibi dogal olarak dengesiz olan araclarda daha da onemli hale gelmekte ve ufak hatalar ve bozunumlar sistemde ciddi kazalara sebep olmaktadir.Bu tezde carpismaya dayanikli, mikro ve dort pervaneli helikopter robotun origamiden esinlenen tasarim ve uretiminden bahsedilmistir. Oldukca hafif (en fazla 200 gram) olan bu robot dis mekanlarin denetleme ve gozetlenmesi amaciyla tasarlanmistir. Bu etkilere dayanikli hava araci dis etkilere bagli olarak 5 - 10 dakika arasinda kararli bir ucus gerceklestirebilmektedir.Bu ozel insansiz hava araci icin tasarlanmis gercekci ozellikleri temsil etmek icin bir dinamik model turetilmistir. Buna ek olarak, yumusak govdenin cevredeki nesneler ile carpismasi viskoelastik temas kuvveti olarak modellenmis ve robotun dinamik modeline eklenmistir. Ayrica, yumusak tamponlar ile yuzey arasindaki temas dinamik surtunme kuvveti modellenmistir.Gelistirilen dinamik model carpismaya dayanikli robotun etkisini simule etmek icin iki farkli ortamda kullanilmistir. Bunlar MATLAB Simulink ve ROS Gazebo ortamlaridir. Basamakli yapiya sahip PID kontrolcu hem dusuk-seviye (yonelim) hem de yuksek-seviye (global posizyon) kontrolde simulasyonlar ve deneyler icin kullanilmistir. Bu yumusak darbe simulasyonlarinin sonuclari deneyler ile uyumlu sonuclar vermistir. Bu uyumlu hava araci icin eski haline gelme katsayisi (CoR) hem deneylerde hem de simulasyonda [0.5 0.6] araliginda kalmistir. Bu insansiz hava aracinin carpismalari sonumleyebildigini ortaya koymaktadir.
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