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Full-Text Articles in Engineering
Unmanned Aerial System For Radioactive Source Search, William J. Lynch
Unmanned Aerial System For Radioactive Source Search, William J. Lynch
Masters Theses
A novel system of airborne radiation survey and source localization is built and tested. In the United States the National Nuclear Security Administration is currently using a two tier approach that uses a manned fixed wing airplane and manned helicopter to survey nuclear disaster zones. The novel system proposed takes the operators out of harm's way and allows for higher resolution radiation surveys at a cheaper cost. This proposed system also allows the operators to locate a source rapidly in the event that a source is stolen or lost. This proposed system is configurable for most radiation detectors that are …
Routing Algorithm For The Ground Team In Transmission Line Inspection Using Unmanned Aerial Vehicle, Yu Li
Routing Algorithm For The Ground Team In Transmission Line Inspection Using Unmanned Aerial Vehicle, Yu Li
Masters Theses
"With the rapid development of robotics technology, robots are increasingly used to conduct various tasks by utility companies. An unmanned aerial vehicle (UAV) is an efficient robot that can be used to inspect high-voltage transmission lines. UAVs need to stay within a data transmission range from the ground station and periodically land to replace the battery in order to ensure that the power system can support its operation. A routing algorithm must be used in order to guide the motion and deployment of the ground station while using UAV in transmission line inspection. Most existing routing algorithms are dedicated to …
Unmanned Aerial And Traversing Vehicle -- A Mobile Platform For Bridge Inspections, Clayton A. Fritsche
Unmanned Aerial And Traversing Vehicle -- A Mobile Platform For Bridge Inspections, Clayton A. Fritsche
Masters Theses
“Unmanned aerial vehicles (UAVs), also known as drones, have been rapidly growing in popularity since their creation. This study aimed to create a robotic platform used to assist in the inspection process of the nation’s aging and deteriorating bridges. To this end, a multimodal inspection robot that utilized both flying and driving technologies, was designed, analyzed, and tested for aerial, traversing, and their transitional operability. The design, herein referred to as the “BridgeBot”, was evaluated both computationally and experimentally. A finite element model of the BridgeBot was established and analyzed under static loading scenarios to help determine stress distributions and …
Thrust Sensing For Small Uavs, Christopher Scott Marchman
Thrust Sensing For Small Uavs, Christopher Scott Marchman
Masters Theses
"Unmanned aerial vehicles (UAVs) have become prevalent in both military and civilian applications. UAVs have many size categories from large-scale aircraft to micro air vehicles. The performance, health, and efficiency for UAVs of smaller sizes can be difficult to assess and few associated instrumentation systems have been developed. Thrust measurements on the ground can characterize systems especially when combined with simultaneous motor power measurements. This thesis demonstrates the use of strain measurements to measure the thrust produced by motor/propeller combinations for such small UAVs. A full-bridge Wheatstone circuit and electrical resistance strain gauges were used in conjunction with constant-stress cantilever …
Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Masters Theses
Teleoperation of ground/aerial vehicle extends operator's ability (e.g. expertise, strength, mobility) into the remote environment, and haptic feedback enhances the human operator's perception of the slave environment. In my thesis, two cases are studied: wheeled mobile robot (MWR) haptic tele-driving over the Internet and unmanned aerial vehicle (UAV) haptic teleoperation over the Internet.
We propose novel control frameworks for both dynamic WMR and kinematic WMR in various tele-driving modes, and for a "mixed" UAV with translational dynamics and attitude kinematics.
The recently proposed passive set-position modulation (PSPM) framework is extended to guarantee the passivity and/or stability of the closed-loop system …