Conference proceeding
A hardware-in-the-loop test rig for designing near-Earth aerial robotics
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, v 2006, pp 2509-2514
01 Jan 2006
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Today's aerial robots are being tasked to fly in near-Earth environments such as caves, forests and buildings. The lack of flight data and performance metrics poses a gap that prevents the analytical design of such robots. This paper describes a test rig with a full-scale diorama in its work-space. Lamps, fans, and generators allow the control of lighting.. gust and obscurants to emulate conditions found in near-Earth environments. The rig's motions resemble the actual robotic aircraft. through model reference adaptive control; sensor data feed into a high-fidelity math model of the aircraft's dynamics to generate rig motion response.
Metrics
Details
- Title
- A hardware-in-the-loop test rig for designing near-Earth aerial robotics
- Creators
- Vefa Narli - Institute of Robotics and Intelligent SystemsPaul Y. Oh - Institute of Robotics and Intelligent SystemsIEEE
- Publication Details
- 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, v 2006, pp 2509-2514
- Series
- IEEE International Conference on Robotics and Automation ICRA
- Publisher
- IEEE
- Number of pages
- 3
- Grant note
- IIS 0347430 / National Science Foundation CAREER; National Science Foundation (NSF)
- Resource Type
- Conference proceeding
- Language
- English
- Web of Science ID
- WOS:000240886905040
- Scopus ID
- 2-s2.0-33845659133
- Other Identifier
- 991019350672304721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Automation & Control Systems
- Computer Science, Artificial Intelligence
- Engineering, Mechanical
- Robotics