This paper presents a motion control scheme for new concept of omnidirectional aerial vehicle transportation and manipulation tasks. The considered platform is novel quadrotor with the capability providing multi-directional thrust by adding an actuated gimbal mechanism in charge modifying orientation frame on which four rotors are mounted. above mechanical design, differently from other unmanne...

In this paper, we perform the experimental characterization of two-axis MEMS scanners driven by radial vertical combdrive actuators. The dc scan ranges are limited by the pull-in effect. Each scanner utilizes a cross-bar spring structure to achieve two rotational degrees of freedom (DOFs) without employing any gimbal. Both the actuators and torsion springs are hidden underneath the mirror to ob...

Electro-optical (EO) stabilized platforms have been widely used for surveillance and reconnaissance on various types of vehicles, from surface ships to unmanned air vehicles (UAVs). EO stabilized platforms usually consist of an assembly of structure, bearings, and motors called gimbals in which a gyroscope is installed. EO elements such as a CCD camera and IR camera, are mounted to a gimbal, wh...

Production of a new mechanism involves design, manufacturing and testing phases. In order to achieve shorter turn-around times, researchers have studied methods of shortening these phases. Today, structural tests and simulations conducted in virtual environments prior to manufacturing are a part of most of the standard production processes. However, in robot production not only the structural a...

This paper describes the fundamental principles of launch vehicle flight control analysis and design. In particular, the classical concept of “drift-minimum” and “load-minimum” control principles is re-examined and its performance and stability robustness with respect to modeling uncertainties and a gimbal angle constraint is discussed. It is shown that an additional feedback of angle-of-attack...

This paper presents an empirical modeling of a 2-Degree-of-Freedom (DoF) azimuth thruster using the signal compression method. The has gimbal mechanism with two servo motors and generates thrust in arbitrary directions. can reduce number thrusters underwater robot contribute to compact design. When is controlled thrusters, influence from rotational motion be considered, dynamic model needed. It...

Small-scale unmanned aerial vehicles are being deployed in urban areas for missions such as ground target tracking, crime scene monitoring, and traffic management. Aerial cluttered environments required to have robust autonomous navigation with both tracking obstacle avoidance capabilities. To this end, work presents a simple-to-design but effective steerable sensor platform its implementation ...

We have measured the three-dimensional coordinates of retroreflecting glass spheres using a multilateration technique. To this end, distances between each target and our measurement heads been determined by an in-house prototype electro-optical absolute distance meter. The used targets are refractive index n = 2 diameter 14.2 mm. They offer much larger aperture than corner cubes lower cost, but...