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Success of the team in the project of the European Space Agency (ESA)

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Success of the team in the project of the European Space Agency (ESA)

Within the ESA “StarTiger” contest an international research consortium was established to implement the project: “Terrestrial Flight Demonstration of a Dropship Precision Lander”. The aim of the StarTiger program is the establishment of international research teams working in the project coordinator center (so. collocation) in order to solve a complex technical problem at the time of 8 months. Every year the ESA is organizing open competitions within which two projects with a budget worth 800k EUR are realized.

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The Estimation Algorithm of Altitude and Vertical Velocity for Multirotor Aerial Vehicle using Kalman Filter

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The Estimation Algorithm of Altitude and Vertical Velocity for Multirotor Aerial Vehicle using Kalman Filter

In past few years there has been growing interest in the field of unmanned aerial vehicles. One of the problems is to get precise information about attitude and altitude. There are many ways to acquire attitude, using quaternions or Kalman filter. For attitude estimation, accelerometers, gyroscopes and magnetometers are used mostly, but for altitude estimation, only accelerometer and barometer readings are valid…

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Should the gyroscopic effect of rotating tool be neglected?

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Should the gyroscopic effect of rotating tool be neglected?

One of the major aspects of mobile robots is their ability to operate directly on a object. By putting different types of tools we can adapt robot for special missions. Among many tools, few of them have high speed rotating mass. Can we move these types of tools during the operation? Is there any risk for robot to lose its set orientation or position? In this article we try to answer for this simple, nevertheless important question. By deriving a model of the industrial robot with rotating tool and adding additional torques on its TCP we show when and how the gyroscopic effect can affect the base of the robot

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Unscented Kalman Filter for the state estimation

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Unscented Kalman Filter for the state estimation

Full state observer are used in demanding applications, where the row measurements are insufficient for the control algorithm. More often than not, these is caused by disturbances or sensory systems failure (leak of data, buffer reset etc.). In order to prevent the quadrotor’s control system form falling apart (and making it robust), we introduced full state observer, which allows for data reconstruction based on math model and precisly selected input vectors

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Modelling of the quadrotor

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Modelling of the quadrotor

In many situation, where test cannot be carried out directly on a drone (basicly, this occurs during first tests of new control algorithms), we use mathematical model. It can have many forms, for different test we customize the model structure so it suits to our purpose. In this article we provide complex description of all physical aspects, then we derive overall math model of the quadrotor

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Where to put ultrasonic sensors?

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Where to put ultrasonic sensors?

The air flow from the drone rotors can highly influence the measurement from the ultrasonic sensors. The main aim for the creators is to plan the location of the sensor so their disturbances caused by air flow are minimized. In this article we figure out where ultrasonic radars should be mounted. Article includes information about the measurement model as well as description of the errors due to environment characteristic

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