Considerations for Hose Wielding UAV for Civil Infrastructure Cleaning

Document Type

Conference Proceeding

Publication Date

8-1-2019

Publication Title

9th International Conference on Structural Health Monitoring of Intelligent Structure

Publisher

Missouri University of Science and Technology

Publisher Location

St. Louis, MO

Volume

2

First page number:

902

Last page number:

907

Abstract

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.

Keywords

Air cleaners; Structural health monitoring; Unmanned aerial vehicles (UAV); civil infrastrutures, model analysis

Disciplines

Mechanical Engineering

Language

English


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