High risk of a collision between rotor blades and the obstacles in complex environment imposes restrictions on aerial manipulators. To solve this issue, novel system cable-Suspended Aerial Manipulator (SAM) is presented paper. Instead attaching robotic manipulator directly to an carrier, it mounted active platform which suspended carrier by means cable. As result, higher safety can be achieved because keep distance from obstacles. For self-stabilization, SAM equipped with two actuation...

This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only haptic device, but also virtual reality that provides 3D visual feedback to remotely-located teleoperator in real-time. We achieve this by utilizing onboard and inertial sensors, an object tracking algorithm pregenerated database. As the has closely match real remote scene, we propose extension of marker with visual-inertial odometry. Both indoor outdoor experiments show...

One of the most serious disadvantages vertical takeoff and landing flying robots including multicopters is necessity flat stable area for safe landing. The ability to land from uneven surfaces moving basements would help rotorcrafts in many important applications. special gears are used provide this ability. This letter explores multicopter on using a novel adaptive platform DroneGear. DroneGear contains four compliant robotic legs two degrees freedom each. innovative optical torque sensor...

Abstract This paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared of kinematically-redundant robots. The proposed method can be seen as extension state-of-the art hierarchical whole-body it allows some the tasks to commanded by remotely-located human operator through haptic device while others are autonomously performed. is able switch among at any time without compromising stability system. To enforce passivity communication...

This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as double pendulum, and it can generate body wrench action. main challenge fact that there only one onboard IMU sensor which does not provide full information on system state. To overcome this difficulty, we controller motivated by simplified model. proposed very simple yet robust to model uncertainties. Moreover, propose gain tuning rule formulating in form output...

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused the weight of robotic arm. Common propeller-based actuation ineffective against such disturbances because possible overheating and high power consumption. To overcome this issue, in paper we propose winch-based for crane-stationed cable-suspended manipulator. Three winch-controlled suspension rigging cables produce desired cable tension distribution to generate...

Aerial robotic manipulation is an emergent trend that poses several challenges. To overcome some of these, the DLR cable-Suspended Manipulator (SAM) has been envisioned. SAM composed a fully actuated multi-rotor anchored to main carrier through cable and KUKA LWR attached below multi-rotor. This work presents control method allow SAM, which holonomically constrained system, perform such interaction tasks using hierarchical framework. Within this framework, compliance manipulator end-effector...

Providing the operator with a good view of remote site is paramount importance in aerial telemanipulation. In light that, this paper proposes application hierarchical control framework order to tackle problem adjusting field an on-board camera as secondary task. The proposed approach ensures that flying base, and consequently camera, can be steered provide distant desired without disturbing end-effector pose. focused on manipulators torque-controlled arms, like DLR Suspended Aerial...

The paper presents two modern versions of the periodic system chemical elements by D.I. Mendeleev. Both variants contain in their structure a zero period which electron, proton and neutron are located, that is, this does not elements, but contains these three elementary particles – constituent parts any atom. According to authors, an electron neutrino (electron antineutrino) should be located behind period, photon completes lower layer table. From universal Planck length, scale as yet...

Methods are proposed for evaluating changes in the structure of water or aqueous electrolyte solutions under influence temperature, magnetic field and surface material by means determining electrical capacity liquid quality factor anti-resonant circuit frequency range from 1 kHz to 3000 kHz. The condenser plates different types electrochemical cells placed one front other, each at a distance more than 5 cm, relative other parallel planes, plane which case is located on plates. current...

The paper deals with research data of reinforced concrete rectangular and I-shaped cross-section elements, operating under oblique eccentric short-term dynamic compression, tension bending. method elements calculation using the theory surfaces relative resistance regarding strength crack is suggested. It based on deformation model use real nonlinear diagrams reinforcement. This makes it possible to observe sections in entire range loadings from central axial compression. Experimental...

Contemporary world trends of societal development dictate the necessity search for new strategies engineering education in Russia. The emergence educational megatechnologies and metamaterials sets a goal forming system continuous anticipating content which is shaped on basis foresight prospective demands to human as subject various kinds social activity orientation towards technological progress. In this circumstances, shaping forms thinking becomes crucial part education, his consciousness...

Методом дифференциальной микрокалорометрии изучена кинетика тепловыделения в системе «цемент – вода» присутствии микрокремнезема и суперпластификатора. Показано, что при твердении цемента наблюдается чередование экзотермических эндотермических эффектов тепловыделения, основе которых лежат процессы смачивания, гидратации, диспергирования, гидролиза, кристаллизации с их попеременной активацией затуханием различные сроки структурообразования. Движущей силой реакций взаимодействия клинкерных...

The sorption mechanism of cadmium ions on the modified fen peat is investigated. kinetic, equilibrium, and thermodynamic parameters process are calculated; kinetic equations diffusion model described. It shown that absorption from an aqueous solution carried out by two centers follows Langmuir law; diffusional described anti-Yander model.

The paper presents research of the properties and structure water aqueous solutions modified by external magnetic field cycling. Methods pH measuring, thermal flow visualization on liquid surface, UV spectroscopy show that low-energy activation results in increase acidity, ebulio (from Lat. ebullire – 'boil') effect accompanied surface temperature, optical density water. These effects are explained formation fractal cellular structures dispersion large clusters.

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused the weight of robotic arm. Common propeller-based actuation ineffective against such disturbances because possible overheating and high power consumption. To overcome this issue, in paper we propose winchbased for crane-stationed cable-suspended manipulator. Three winch-controlled suspension rigging cables produce desired cable tension distribution to generate...

The paper deals with some poorly studied issues of cement hydration and hardening. It is shown that the interaction water begins attack oxygen atoms clinker minerals by protons. In this case, process structure formation a stone can be represented as inversion dispersed – system, when dispersion medium (water) in initial periods turns into phase at later stages Conversely, (cement) becomes medium. Attention drawn to relevance, but insufficient knowledge information interactions well influence...

This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only haptic device, but also virtual reality that provides 3D visual feedback to remotely-located teleoperator in real-time. We achieve this by utilizing onboard and inertial sensors, an object tracking algorithm pre-generated database. As the has closely match real remote scene, we propose extension of marker with visual-inertial odometry. Both indoor outdoor experiments show...

This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as double pendulum, and it can generate body wrench action. main challenge fact that there only one onboard IMU sensor which does not provide full information on system state. To overcome this difficulty, we controller motivated by simplified model. proposed very simple yet robust to model uncertainties. Moreover, propose gain tuning rule formulating in form output...

This work is devoted to the study and development of efficient chromatographic concentra-tor columns based on styrene-divinylbenzene for control pollutants. It seemed us that most effective way achieve this goal modify initial sorbent,select graft specific monomers surface, increase sorption capacity analyzed compounds, chro-matographic polarity and, as a result, expand range analytical capabilities cre-ated concentrator columns. The sorbent was modified in several ways. Thus, chosen...