Description
To expand the capabilities of a multi-rotor aerial vehicle, one or several hoses could be mounted to the vehicle. Such hoses could be used to expel compressed air or other fluid for the purpose of cleaning hard-to-reach surfaces. The main challenge in operating a hose mounted on a free-flying aerial vehicle is compensating for the reaction forces and torques the vehicle experiences as fluid leaves the hose. This paper introduces dynamic modeling for a hose mounted on a multi- rotor vehicle. It is shown that safe operating ranges can be defined in terms of hose angle and fluid PSI, with instability occurring outside of this bounded tool-space. Insights from model analysis are presented to help the reader apply key takeaways to vehicle and controller design.
Location
St. Louis, Missouri
Presentation Date
06 Aug 2019, 2:20 pm - 2:40 pm
Meeting Name
INSPIRE-UTC 2019 Annual Meeting
Document Type
Article - Conference proceedings
Document Version
Final Version
File Type
text
Language(s)
English
Source Publication Title
Proceedings of the 9th International Conference on Structural Health Monitoring of Intelligent Infrastructure (2019: Aug. 4-7, St. Louis, MO)
Included in
Considerations for Hose Wielding UAV for Civil Infrastructure Cleaning
St. Louis, Missouri
To expand the capabilities of a multi-rotor aerial vehicle, one or several hoses could be mounted to the vehicle. Such hoses could be used to expel compressed air or other fluid for the purpose of cleaning hard-to-reach surfaces. The main challenge in operating a hose mounted on a free-flying aerial vehicle is compensating for the reaction forces and torques the vehicle experiences as fluid leaves the hose. This paper introduces dynamic modeling for a hose mounted on a multi- rotor vehicle. It is shown that safe operating ranges can be defined in terms of hose angle and fluid PSI, with instability occurring outside of this bounded tool-space. Insights from model analysis are presented to help the reader apply key takeaways to vehicle and controller design.
