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Robust Visual Localization of a UAV over a Pipe-Rack Based on the Lie Group SE(3)
Full text linkVisual inspection and maintenance ofindustrialpipes using robots represent an emerging application in Oil Gas and refinery facilities. In this domain, we present a pose tracking system based on a single camera sensor to localize an unmanned aerial vehicle operating over a pipe-rack to carry out inspection activities. We propose a unified framework based on the Lie group SE(3) which allows the simultaneous estimation of the pose of the UAV along with some parameters of the pipe-rack model. Numerical simulations have been performed to demonstrate the effectiveness of the proposed approach
6D Pose Task Trajectory Tracking for a Class of 3D Aerial Manipulator From Differential Flatness
Full text linkIn this paper, the dynamics and control of a novel class of aerial manipulator for the purpose of end effector full pose trajectory tracking are investigated. The 6D pose of the end effector is set as a part of the flat output, from which the conditions that the system has the proposed flat output is obtained. The control law for the end effector tracking purpose is designed. The core part of the controller is an almost global controller in the configuration space of the system. From the transformation between the state space and the output space, the tracking control of the end effector in SE (3) is also achieved. The stability of the controlled system is analyzed. A numerical example is presented to demonstrate the theoretical analysis
Gait generation for underactuated compass-like robots using dissipative forces in the controller
Full text linkThis work addresses the problem of gait generation in underactuated compass-like biped robots using dissipative forces in the controller. Three different controllers are presented. The first one is a simultaneous interconnection and damping assignment passivity-based control with dissipative forces. The second one is an energy pumping-and-damping control, while the third one is an energy pumping or damping control action. Numerical case studies, comparisons, and critical discussions evaluate the performance of the proposed approaches
Control of the TORA System through the IDA-PBC without Explicit Solution of Matching Equations
Full text linkThis paper presents the control of a translational oscillator with a rotational actuator (TORA) system, in full gravity, through the interconnection and damping assignment passivity-based control (IDA-PBC). The sought goal is to control the underactuated TORA system while reducing the complexity in solving the partial differential equations coming out from the so-called matching equations, which arise from the IDA-PBC. The performance of the designed controller is illustrated through numerical simulations
Bayesian optimization approach to input shaper design for flexible beam vibration suppression
Full text linkThis paper tackles the problem of suppressing vibrations of a flexible beam mounted on a mobile robot for inspection purposes. The adopted approach is an input shaper design along with Bayesian optimization. The latter methodology is employed to find out the optimal shaping parameter, taking into account non-ideal behaviors as controller hysteresis and time delays. Experimental results bolster the performance of the proposed approach
Real-time Estimation of Planar Surfaces in Arbitrary Environments using Microsoft Kinect Sensor
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