Doctor of Philosophy (PhD)
First Committee Member
Second Committee Member
Third Committee Member
Fourth Committee Member
Fifth Committee Member
This manuscript presents a ”mechanically intelligent” approach to designing a Hosing-Drone for heavy-duty pressure washing. Spraying a hose creates strong reaction forces and torques. Previously demonstrated spraying robots are over-engineered to be very massive with huge inertias. These high inertias ”wash out” the reaction from the spraying. In the proposed approach, the contributions from all observable fluid dynamics, fluid structure interactions, and aerodynamics are studied individually and for the coupled system. Experimental data is collected and fit to dynamic models. These models are used to design a smaller, lighter, more agile vehicle than has been previously demonstrated. An impedance controller with virtual reference model is developed with inspiration from the classic ”hose under flow” fluid dynamics toy problem and ”crane-trolley” control problem. Results from simulation and field testing show proof-of-concept.
Multicopter; Physics Modeling; Pressure Flow; Pressure Washing; Robotics; UAS
Aerospace Engineering | Artificial Intelligence and Robotics | Other Physics | Physics | Robotics
University of Nevada, Las Vegas
Hament, Blake, "A Mechanically Intelligent Hosing-Drone" (2022). UNLV Theses, Dissertations, Professional Papers, and Capstones. 4587.
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