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

Start Date

8-6-2019 2:20 PM

End Date

8-6-2019 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)

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Aug 6th, 2:20 PM Aug 6th, 2:40 PM

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.