In this paper, we present a model predictive controller for a fully actuated aerial manipulator to track a hybrid force and pose trajectory at the end-effector in an aerial interaction task. A force sensor at the end-effector is used to detect contact and to directly control the interaction force. We propose an approach for automatic transition between three operation modes which reflect the state of contact constraints, including free flight and two modes for force control based on static or dynamic friction at the end-effector. This division into three modes allows for different mode-specific controller tunings to optimize the desired performance throughout an interaction task. Results from flight experiments which combine force, position, and attitude tracking, show the performance of the controller in terms of accuracy and precision. The performance is further benchmarked against a hybrid force/impedance controller.
Among all alcohol liqueurs, brandies from drupaceous plants are characterized with the highest level of hydro cyanic acid, benzaldehyde and ethylcarbamate. In fruit brandies ethylcarbamate mainly originates from hydro cyanic acid during the processes of alcohol fermentation of crushed fruit and its preservation, distillation and ripening of the brandy. Hydro cyanic acid and benzaldehyde arise from the hydrolysis of amygdaline that is found exist in the heart of fruit stones and seeds, as well as from the hydrolysis of prunasine from the skin and flesh of drupaceous plants. The content of amygdaline and prunazine depends on the type of fruit, which corresponds to the potential content of hydro cyanic acid and benzaldehyde in the brandy that corresponds the stoichiometric ratio 1:3.94. The content of the aldehydes: furfural and benzaldehyde in plum brandy, strong plum brandy, young brandy, of domestic production in the various regions of Serbia were analyzed in this paper
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