dc.contributor.author |
Kutia, James |
en |
dc.contributor.author |
Stol, Karl |
en |
dc.contributor.author |
Xu, PW |
en |
dc.coverage.spatial |
VA, USA |
en |
dc.date.accessioned |
2016-09-23T03:29:09Z |
en |
dc.date.issued |
2016-06-07 |
en |
dc.identifier.citation |
2016 International Conference on Unmanned Aircraft Systems, VA, USA, 07 Jun 2016 - 10 Jun 2016. 2016 International Conference on Unmanned Aircraft Systems (ICUAS). 1359-1365. 07 Jun 2016 |
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dc.identifier.isbn |
9781467393331 |
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dc.identifier.uri |
http://hdl.handle.net/2292/30462 |
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dc.description.abstract |
Development of an aerial manipulator prototype for canopy sampling is presented. As part of addressing the unique challenges of operating in a forest canopy environment, the prototype features an offset-mounted manipulator. The first steps of flight experiments have been conducted in an attempt to determine the viability of an off-the-shelf PID flight control implementation - acceptable performance would negate the need to use more complex implementations. Indoor testing has been conducted with the aid of motion capture in-the-loop to alleviate inertial sensing uncertainties. This work investigates the two simplest dynamic phases of a sampling operation: position holding during free-flight, and position holding whilst the arm is moving. |
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dc.relation.ispartof |
2016 International Conference on Unmanned Aircraft Systems |
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dc.relation.ispartofseries |
2016 International Conference on Unmanned Aircraft Systems (ICUAS) |
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dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. Details obtained from http://www.ieee.org/publications_standards/publications/rights/rights_policies.html |
en |
dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
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dc.title |
Initial flight experiments of a canopy sampling aerial manipulator |
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dc.type |
Conference Item |
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dc.identifier.doi |
10.1109/ICUAS.2016.7502616 |
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pubs.begin-page |
1359 |
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dc.description.version |
AM - Accepted Manuscript |
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dc.rights.holder |
Copyright: IEEE |
en |
pubs.end-page |
1365 |
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pubs.finish-date |
2016-06-10 |
en |
pubs.start-date |
2016-06-07 |
en |
dc.rights.accessrights |
http://purl.org/eprint/accessRights/OpenAccess |
en |
pubs.subtype |
Conference Paper |
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pubs.elements-id |
538931 |
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pubs.org-id |
Engineering |
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pubs.org-id |
Mechanical Engineering |
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pubs.record-created-at-source-date |
2016-08-11 |
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