scholarly journals Attitude control based on fuzzy logic for continuum aircraft fuel tank inspection robot

2015 ◽  
Vol 29 (6) ◽  
pp. 2495-2503 ◽  
Author(s):  
Guochen Niu ◽  
Li Wang ◽  
Guanghua Zong
Keyword(s):  
Fuzzy Logic ◽  
Attitude Control ◽  
Fuel Tank ◽  
Inspection Robot ◽  
Aircraft Fuel

Design Bionic Structure and Analysis of Kinematics for Aircraft Fuel Tank Inspection Robot

2013 ◽  
Vol 278-280 ◽  
pp. 594-598 ◽  
Author(s):  
Qing Ji Gao ◽  
Wei Juan Wang ◽  
Guo Chen Niu
Keyword(s):  
Degrees Of Freedom ◽  
Fuel Tank ◽  
Strong Constraint ◽  
Actuation Redundancy ◽  
Inspection Robot ◽  
Single Section ◽  
Aircraft Fuel ◽  
Bionic Structure ◽  
Coordinates Transformation ◽  
Maintenance Problem

Aircraft fuel tank leakage is a very common maintenance problem. A snake-like robotic detector was designed for troubleshooting leaks of fuel tank which has strong constraint and is also explosive. The robot has several flexible sections based on bionics, and it can achieve actuation redundancy by independently pulling its four driven cables to carry out a bending motion of two-degrees of freedom. A solution framework was established among the cables length, angle and tip coordinate of single section by projection curvature and coordinates transformation. The decoupled kinematics equation between the multi-sections was deduced based on the analysis of single-section kinematics. Finally the correctness of the kinematics method was demonstrated by prototype testing.

scholarly journals Path planning based on Q-learning and three-segment method for aircraft fuel tank inspection robot

Filomat ◽  
2018 ◽  
Vol 32 (5) ◽  
pp. 1797-1807 ◽  
Author(s):  
Niu Guochen ◽  
Xu Kailu
Keyword(s):  
Path Planning ◽  
Learning Algorithm ◽  
Initial Point ◽  
Fuel Tank ◽  
Simulation Experiments ◽  
Q Learning ◽  
Inspection Robot ◽  
Computing Complexity ◽  
Aircraft Fuel ◽  
Continuum Robot

In order to realize the path planning of continuum robot for inspecting defects in the aircraft fuel tank compartment, an approach based on Q-learning and Three-segment Method was proposed, and the posture of the robot meeting the inherent and spatial structure constraint requirements was planned. Firstly, the simulation model of the aircraft fuel tank was established. Moreover, the workspace was rasterized to decrease the computing complexity. Secondly, the Q-learning algorithm was applied and the path from the initial point to the target was generated. In terms of target guided angle and three-segment method, the joint variables corresponding to each transition point on the path could be obtained. Finally, the robot reached the target by progressively updating the joint variables. Simulation experiments were implemented, and the results verified the effectiveness and feasibility of the algorithm.

Research on Statics Model of Aircraft Fuel Tank Inspection Robot

2021 ◽  
Author(s):  
Yun Chen ◽  
Hongfu Zuo ◽  
Huan Zhang ◽  
Juan Xu
Keyword(s):  
Fuel Tank ◽  
Inspection Robot ◽  
Aircraft Fuel

A Novel Design of Aircraft Fuel Tank Inspection Robot

2013 ◽  
Vol 11 (7) ◽  
Author(s):  
Guochen Niu ◽  
Zunchao Zheng ◽  
Qingji Gao ◽  
Weijuan Wang ◽  
Lei Wang
Keyword(s):  
Fuel Tank ◽  
Inspection Robot ◽  
Aircraft Fuel ◽  
Novel Design

Comparison of a Fuzzy Logic Controller With a P + D Control Law

1989 ◽  
Vol 111 (2) ◽  
pp. 128-137 ◽  
Author(s):  
S. Daley ◽  
K. F. Gill
Keyword(s):  
Fuzzy Logic ◽  
Attitude Control ◽  
Fuzzy Logic Control ◽  
Fuzzy Logic Controller ◽  
Good Control ◽  
Control Law ◽  
Dynamic Coupling ◽  
Process Knowledge ◽  
Logic Control ◽  
Limited Process

A study is described that compares the performance of a self-organizing fuzzy logic control law (SOC) with that of the more traditional P + D algorithm. The multivariate problem used for the investigation is the attitude control of a flexible satellite that has significant dynamic coupling of the axes. It is demonstrated that the SOC can provide good control, requires limited process knowledge and compares favorably with the P + D algorithm.

scholarly journals Development of a Novel Test Rig for the Evaluation of Aircraft Fuel Tank Sealant

2012 ◽  
Vol 40 (1) ◽  
pp. 103420
Author(s):  
M. R. Mitchell ◽  
R. E. Link ◽  
M. N. Hooper ◽  
A. R. Hutchinson ◽  
J. G. Broughton ◽  
...  
Keyword(s):  
Fuel Tank ◽  
Test Rig ◽  
Aircraft Fuel
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