Considerations for Hose Wielding UAV for Civil Infrastructure Cleaning
9th International Conference on Structural Health Monitoring of Intelligent Structure
Missouri University of Science and Technology
St. Louis, MO
First page number:
Last page number:
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.
Air cleaners; Structural health monitoring; Unmanned aerial vehicles (UAV); civil infrastrutures, model analysis
Considerations for Hose Wielding UAV for Civil Infrastructure Cleaning.
9th International Conference on Structural Health Monitoring of Intelligent Structure, 2
St. Louis, MO: Missouri University of Science and Technology.