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DTSTART;TZID=America/New_York:20231031T100000
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SUMMARY:MEAM Seminar: "Hardware / Controls Co-design to Overcome Challenges for Aerial Robots"
DESCRIPTION:Aerial robotics have become ubiquitous\, but (like most robots) they still struggle to operate at high speed in unstructured\, cramped environments. By considering a vehicle’s mechanical design simultaneously with the design of controls and automation algorithms\, we have more degrees of freedoms to find creative solutions to problems. In this talk I will present some of my group’s work on enhancing aerial robots\, including purely algorithmic approaches (“how can I do more with the hardware I already have?”) and with hardware co-design (“how can I change the vehicle so that the hard problem is actually easy?”). Two challenges for aerial robots will motivate us: first: flight through narrow\, unstructured environments\, and second: long duration and range flight within the constraints of battery-electric power. \nFor flight through narrow environments\, I will present an algorithmic approach for high speed path planning that incorporates perception uncertainty\, and can be used on a standard drone. We will then present two alternative approaches that modify the system design: one a vehicle that can change its shape to fit through narrower spaces\, and a second that is highly collision resilient\, and for whom collisions are therefore neither mission- nor safety-critical. \nFor overcoming energetic challenges\, we will present a strategy for real-time optimization of flight characteristics for a vehicle\, specifically using extremum seeking control to modify the system airspeed and yaw angle; an algorithm that can be applied to any aerial robot. We then again show two design modifications to work around the problem — first\, a morphing system that can reduce its drag area at speed\, and secondly a system capable of mid-air battery replacement for indefinite flight.
URL:https://seasevents.nmsdev7.com/event/meam-seminar-hardware-controls-co-design-to-overcome-challenges-for-aerial-robots/
LOCATION:Wu and Chen Auditorium (Room 101)\, Levine Hall\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
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