CRI II-NEW: MM-SISTR - Infrastructure for Enabling Mobile-Manipulation Unmanned Aerial Vehicle (MM-UAV) Research and Design

无人机(UAV)经常用于监视和侦察任务。它们通常会飞到离地面很高的地方，以避开障碍物。因此，他们被动地执行这样的任务。该项目为无人机增加了灵巧的手臂。这将产生范式转换任务；然后这些武器可以用于近地环境任务，如基础设施修复、农业作物处理和边境检查。阻碍这种无人机实现的关键差距是缺乏关于反作用力和力矩的数据。当这类车辆(被称为移动操纵无人机或MM-UAV)上的手臂与建筑物、树木和地面上的常见物体相互作用时，这些反应可能会扰乱车辆的稳定性。该项目建设的新基础设施填补了这一空白。机械臂/手是改装的，在现有的6自由度门架上配置为模拟无人机？S的横向和纵向动力学。最终的效果是一个硬件在环系统，可以捕获和研究反作用力和扭矩。这类基础设施产生的更广泛影响包括：用于分析性设计MM-UAV的数据，以生产适合近地飞行任务的新型无人驾驶飞机；国际合作，将成果产生给工业合作伙伴；动手实验室组件，以补充机器人课程；以及女童子军外联计划，以激励年轻女孩对科学和工程感兴趣。传播包括公开共享数据和在文献中出版。该项目的成果是一种用于现场和服务机器人的新型无人机，具有广泛的任务。

Unmanned aerial vehicles (UAVs) are often used for surveillance and reconnaissance missions. They typically fly high above the ground to avoid obstacles. As such, they execute such missions passively. This project adds dexterous arms to a UAV. This would yield paradigm-shifting missions; the arms could then be used for near-Earth environment tasks like infrastructure repair, agricultural crop handling and border inspection. The critical gap preventing the realization of such UAVs is the lack of data on reaction forces and torques. When the arms on such vehicles (dubbed Mobile Manipulating UAVs or MM-UAV) interact with objects like building edifices, trees and common objects on the ground, these reactions can upset vehicle stability. The new infrastructure built by this project fills this gap. Robotic arms/hands is retrofitted and on existing 6-DOF gantry that is configured to mimic the UAV?s lateral and longitudinal dynamics. The net effect is a hardware-in-the-loop system that enables capture and study of reaction forces and torques. Broader impacts resulting from such infrastructure include: data to analytically design MM-UAV to yield a new class of unmanned aircraft suitable for near-Earth missions; international collaborations that spinout results to industrial partners; hands-on lab components to complement robotics courses; and Girl Scouts outreach programs to inspire and motivate young girls to science and engineering. Dissemination includes the open sharing of data and publishing in the literature. The outcome of the project is a new class of UAV for field and service robotics with a wide range of missions.