Design and Control of a Small Aerial Manipulator for Indoor Environments

2017 ◽  
Author(s):  
Robert M. Jones ◽  
Donglei Sun ◽  
Gabriel Barsi Haberfeld ◽  
Arun Lakshmanan ◽  
Thiago Marinho ◽  
...  
Keyword(s):  
Indoor Environments ◽  
Aerial Manipulator ◽  
And Control

Survey on Aerial Manipulator: System, Modeling, and Control

Robotica ◽  
2019 ◽  
Vol 38 (7) ◽  
pp. 1288-1317 ◽  
Author(s):  
Xiangdong Meng ◽  
Yuqing He ◽  
Jianda Han
Keyword(s):  
System Modeling ◽  
Future Research ◽  
Typical Application ◽  
Modeling And Control ◽  
Aerial Manipulator ◽  
Initial Appearance ◽  
Aerial Vehicle ◽  
New Type ◽  
And Control ◽  
Flying Robot

SUMMARYThe aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

scholarly journals Prioritizing Suitable Quality Assurance and Control Standards to Reduce Laboratory Airborne Microfibre Contamination in Sediment Samples

Environments ◽  
2021 ◽  
Vol 8 (9) ◽  
pp. 89
Author(s):  
Sara L. Belontz ◽  
Patricia L. Corcoran
Keyword(s):  
Quality Assurance ◽  
Literature Review ◽  
Indoor Environments ◽  
Laboratory Examination ◽  
Sediment Samples ◽  
Clean Air ◽  
Negative Controls ◽  
And Control ◽  
Secondary Contamination ◽  
Quality Assurance And Control

The ubiquity and distribution of microplastics, particularly microfibres, in outdoor and indoor environments makes it challenging when assessing and controlling background contamination, as atmospheric particles can be unintentionally introduced into a sample during laboratory analysis. As such, an intra-laboratory examination and literature review was completed to quantify background contamination in sediment samples, in addition to comparing reported quality assurance and control (QA/QC) protocols in 50 studies examining microplastics in sediment from 2010 to 2021. The intra-lab analysis prioritizes negative controls, placing procedural blanks in various working labs designed to prepare, process, and microscopically analyse microplastics in sediment. All four labs are subject to microfibre contamination; however, following the addition of alternative clean-air devices (microscope enclosure and HEPA air purifiers), contamination decreased by 66% in laboratory B, and 70% in laboratory C. A review of microplastic studies suggests that 82% are not including or reporting alternative clean-air devices in their QA/QC approaches. These studies are found to be at greater risk of secondary contamination, as 72% of them ranked as medium to high contamination risk. It is imperative that laboratories incorporate matrix-specific QA/QC approaches to minimize false positives and improve transparency and harmonization across studies.

scholarly journals A Novel Aerial Manipulator with Front Cutting Effector: Modeling, Control, and Evaluation

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Hao Xu ◽  
Zhong Yang ◽  
Guoxing Zhou ◽  
Luwei Liao ◽  
Changliang Xu ◽  
...  
Keyword(s):  
Control Method ◽  
External Disturbance ◽  
Model Parameters ◽  
Physical Interaction ◽  
Entire System ◽  
Modeling And Control ◽  
Aerial Manipulator ◽  
And Control ◽  
Contact Position ◽  
System Movement

This paper proposes a novel aerial manipulator with front cutting effector (AMFCE) to address the aerial physical interaction (APhI) problem. First, the system uncertainty and external disturbance during the system movement and contact operation are estimated by modeling the entire robot and contact position. Next, based on the established model, the nonlinear disturbance observer (NDO) is used to estimate and compensate the unknown external disturbance of the system and the uncertainty of the model parameters in real time. Then, the nonsingular terminal synovial membrane control method is used to suppress the part that is difficult to estimate. Finally, a controller which is suitable for the movement and operation of the entire system is designed. The controller’s performance is verified through experiments, and the results show that the design, modeling, and control of the entire system can achieve the APhI.

scholarly journals A Comparison of Infection Venues of COVID-19 Case Clusters in Northeast China

2020 ◽  
Vol 17 (11) ◽  
pp. 3955 ◽  
Author(s):  
Pengcheng Zhao ◽  
Nan Zhang ◽  
Yuguo Li
Keyword(s):  
Disease Prevention ◽  
Field Study ◽  
Public Transport ◽  
Northeast China ◽  
Prevention And Control ◽  
Indoor Environments ◽  
Heilongjiang Province ◽  
The Public ◽  
The World ◽  
And Control

The world has been suffering from the COVID-19 pandemic since late 2019. In this study, we compared various types of infection locations in which COVID-19 cases clustered, based on the data from three adjacent provinces in Northeast China. The collected data include all officially reported cases in this area until 8 March 2020. We explored the associations between the cases and the frequency of infection locations. The COVID-19 epidemic situation was worse in Heilongjiang Province than in Liaoning and Jilin Provinces. Most clustered cases occurred in individual families and/or between relatives. The transmission in public venues served as a hub for transmitting the disease to other families and results in new clusters. The public transport spread the infection over long distances by transporting infected individuals, and most infections did not seem to occur within vehicles. This field study shows the effect of indoor environments on SARS-CoV-2 transmission and our data may be useful in developing guidance for future disease prevention and control.

scholarly journals Survey on Aerial Manipulator: System, Modeling, and Control – CORRIGENDUM

Robotica ◽  
2020 ◽  
Vol 38 (7) ◽  
pp. 1343-1343 ◽  
Author(s):  
Xiangdong Meng ◽  
Yuqing He ◽  
Jianda Han
Keyword(s):  
System Modeling ◽  
Modeling And Control ◽  
Aerial Manipulator ◽  
And Control

Kubik: Open Building Approach For The Construction of an Unique Experimental Facility Aimed to Improve Energy Efficiency in Buildings

2011 ◽  
Vol 36 (1) ◽  
pp. 63-72 ◽  
Author(s):  
José A. Chica ◽  
Inés Apraiz ◽  
Peru Elguezabal ◽  
Marc O. Rrips ◽  
Victor Sánchez ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Renewable Energy ◽  
Renewable Energy Sources ◽  
Indoor Environments ◽  
Monitoring And Control ◽  
Monitoring And Control System ◽  
Improve Energy Efficiency ◽  
New Concepts ◽  
Lighting Systems ◽  
And Control

KUBIK is aimed to the development of new concepts, products and services to improve the energy efficiency of buildings. The main characteristic of KUBIK is the capability to built realistic scenarios to analyse the energy efficiency obtained from the holistic interaction of the constructive solution for the envelope, the intelligent management of the climatisation and lighting systems and the supply from renewable energy sources. The R&D infrastructure consists of a building able to provide up to 500 m2 distributed in an underground floor, a ground floor and up to two storeys; the main dimensions are 10,00 m. width x 10,00 m. length x 10,00 meter high (plus and underground floor 3,00 m. depth). The supply of energy is based on the combination of conventional and renewable energy (geothermic, solar and wind). In addition, the building is equipped with a monitoring and control system which provides the necessary information for the R&D activities. KUBIK's main structure provides an experimental, adaptable and reconfigurable infrastructure to create the indoor environments to analyse and to allow the assembly of the constructive solutions for the envelope, floors and partitions which performance must to be assessed under realistic conditions.

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