Flow-Induced Force Modeling and Active Compensation for a Fluid-Tethered Multirotor Aerial Craft during Pressurised Jetting

Lee, Shawndy Michael; Ng, Wei H.; Liu, Jingmin; Wong, Shen Kai; Srigrarom, Sutthiphong; Foong, Shaohui

doi:10.3390/drones6040088

Cited by 5 publications

(8 citation statements)

References 23 publications

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“…No connection between UAV and ground 47,48,50,51,[53][54][55][56][58][59][60][61][62][63][64][65][66][67][68][69]71,[74][75][76][77][78][79][80][81][82][83][86][87][88]90,91,129,134,137,140,143] Connection for mechanical purposes during part of the operation [193] (only during recovery of payload) [119,131] Very high operating altitude (>1 km) [147,148,175] Short-term missions (inspection) [133,163]…”

Section: Reason For Not Transferring Power Over the Tether Publicationsmentioning

confidence: 99%

“…The majority of the publications (78%) that discussed tUAVs did not actually describe the tether's mechanical, electrical, or data transmission properties. A small percentage of publications(14%) described only the mechanical or electrical aspects of the tether, such as materials or elasticity; these included publications with superficial descriptions such as "thin line" [26], electrical characteristics such as "3 wire cable" [153] or "0.83 mm cable" [156], as well as cable material such as "silicone rubber hose" [48]. A more detailed description was present in 8% of the publications.…”

Section: Tether Compositionmentioning

confidence: 99%

“…Figure 12 presents the percentage of publications according to the description of the tether used, while Figure 13 groups the publications that did not present a description, according to their application scope. Although the presence of the tether limits the movement range of the UAV, the publications that applied he transportation of a hose to the tUAV [47,48,57,86] demonstrated that it is possible to have some movement while connected to a ground point.…”

Section: Tether Compositionmentioning

confidence: 99%

“…Load transportation: where a load such as a delivery parcel [29], a weight [21], a planar platform [38], or a military payload [22] is transported by one [39] or more tUAVs [20] using a tether [23] or some other connection such as a rigid rod [42]. Some typical examples of the usage of tUAVs in this application are shown in Figure 7 • Hose transportation: where a hose is transported by one or more UAVs, usually in order to provide some liquid content to a specific location, such as in firefighting [47] and building painting [48]. A typical example of this usage is shown in Figure 7c Although they present a similar general system configuration, with the UAV connected to a massive free-swinging body, these two scenarios present different objectives, and, as such, different problems to be solved: while load transportation focuses on the stabilization of the end mass [24,27,39,41] and avoiding collisions [29,44], the hose transportation scenario aims to keep the ejected fluid contact point stable [48], thereby compensating for the forces arising from the ejection itself, without caring much for the UAV's or hose's swinging movement; furthermore, in hose transportation, the path of the UAV has to consider the avoidance of sharp bends in order to keep the liquid's flow from decreasing.…”

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confidence: 99%

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Tethered Unmanned Aerial Vehicles—A Systematic Review

et al. 2023

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In recent years, there has been a remarkable surge in the development and research of tethered aerial systems, thus reflecting a growing interest in their diverse applications. Long-term missions involving aerial vehicles present significant challenges due to the limitations of current battery solutions. Tethered vehicles can circumvent such restrictions by receiving their power from an element on the ground such as a ground station or a mobile terrestrial platform. Tethered Unmanned Aerial Vehicles (UAVs) can also be applied to load transportation achieved by a single or multiple UAVs. This paper presents a comprehensive systematic literature review, with a special focus on solutions published in the last five years (2017–2022). It emphasizes the key characteristics that are capable of grouping publications by application scope, propulsion method, energy transfer solution, perception sensors, and control techniques adopted. The search was performed in six different databases, thereby resulting in 1172 unique publications, from which 182 were considered for inclusion in the data extraction phase of this review. Among the various aircraft types, multirotors emerged as the most widely used category. We also identified significant variations in the application scope of tethered UAVs, thus leading to tailored approaches for each use case, such as the fixed-wing model being predominant in the wind generation application and the lighter-than-air aircraft in the meteorology field. Notably, the classical Proportional–Integral–Derivative (PID) control scheme emerged as the predominant control methodology across the surveyed publications. Regarding energy transfer techniques, most publications did not explicitly describe their approach. However, among those that did, high-voltage DC energy transfer emerged as the preferred solution. In summary, this systematic literature review provides valuable insights into the current state of tethered aerial systems, thereby showcasing their potential as a robust and sustainable alternative to address the challenges associated with long-duration aerial missions and load transportation.

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Section: Reason For Not Transferring Power Over the Tether Publicationsmentioning

confidence: 99%

Section: Tether Compositionmentioning

confidence: 99%

Section: Tether Compositionmentioning

confidence: 99%

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confidence: 99%

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Tethered Unmanned Aerial Vehicles—A Systematic Review

et al. 2023

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“…In the recent years, customized tethered aerial vehicles are increasingly disrupting and modernizing many traditional methods in industries for basic maintenance (and cleaning/grasping) (Chien et al, 2021; Gindinceanu, 2019; Lee et al, 2020, 2022) and fire rescue missions (Ando et al, 2018, 2019). Aerial robots are beneficial for these industries in terms of operational safety, productivity for high risk and labor‐intensive operations.…”

Section: Introductionmentioning

confidence: 99%

Towards fluid force estimation of a water‐jetting aerial robot with hybrid kinematics‐force model

Lee

Tang

et al. 2022

Journal of Field Robotics

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In this paper, a three-dimensional hybrid kinematics-force (HKF) model for fluid force estimation coupled with position optimization of an aerial robot capable of high-pressure fluid ejection is presented. Motivated by the archerfish's unique (water-jetting) hunting mechanics, the HKF model comprises of two sub-models (hybrid kinematics and fluid force estimation) to maintain a specific fluid force at the point-of-contact (POC) during high altitude fluid jetting for high-risk maintenance (cleaning) scenarios. Industries with high-risk cleaning applications seek to employ robots to assist cleaners in routine operations on infrastructures or equipment at a height such as photovoltaic e-glasses, impact-sensitive objects, and many others. For a fluid jet, the stand-off distance represents the length of the fluid trajectory between the nozzle orifice and POC, and is also a vital variable in fluid force control.If the stand-off distance between the ejection source and the target is large, the fluid stream loses energy along the trajectory and the force at the POC is weakened thus losing some of the jet pressure at the target surface. The HKF model exploits this by estimating and maintaining a specific force at the POC through position optimization of the onboard nozzle coupled with the knowledge of the fluid parameters.To innovate high structure cleaning, the HKF model can be employed on an aerial robot with fluid ejection capabilities for accurate fluid force control at the POC. For high-pressure fluid ejection (on horizontal and vertical structures), the HKF model is able to predict the (high pressure) fluid force at the POC with less than 10% error.The proposed HKF model is tested and verified through simulations and the experimentation results are validated by flying the physical prototypes in actual deployment scenarios.

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