Browsing by Author "Kaneda, Emerson Kazuyoshi"
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- Development of a Platform with 2 DoF to Assist the Cooperation Between Grounded Mobile Robots and UAVs in Landing OperationsPublication . Kaneda, Emerson Kazuyoshi; Berger, Guido; Pinto, Vítor H.; Pinto, Milena F.; Ferreira, Murilo; Rossini, Flávio Luiz; Lima, JoséThis paper presents the design and implementation of a two degrees of freedom (2 DoF) self-stabilizer platform based on a bidirectional type, intended to integrate with mobile robots to assist unmanned aerial vehicle (UAV) land operations in irregular grounds with a focus on outdoor environments operations. A study on the kinematics behavior of the bidirectional platform is addressed to improve decisions about the structure. Mind in the hardware and software implementation, the combination of step motors and IMU sensors provides the system with position control, how the step motor actuates over position with an integer number of steps, and a P controller generates an interesting response. This setup enabled the platform to stabilize in grounds with at least positive and negative 15 degrees of slope and maintain stability for UAVs under several operational conditions.
- Two-degree-of-freedom plaform as a tool for cooperation between mobile robots and uavsPublication . Kaneda, Emerson Kazuyoshi; Lima, José; Rossini, Flávio Luiz; Cunha, Marcio Rodrigues daUnmanned ground vehicle and Unmanned Aerial Vehicle (UAV) represent a large relevance in the current technological context, enabling its application in different areas of knowledge. The approach should be developed and applied to operations by Unmanned Aerial Vehicle (UAV) of small size, whether applied indoors or outdoors. During the present work a self-leveling platform prototype was built that allows a drone to be landed on horizontal surface regardless of the angle of its support. The main objective of this work is to study the Kinematics behavior of a self-leveling platform dedicated to cooperative operations between Robotics heterogeneous systems. In this sense, both the development of the control system and hardware will be developed and validated in different environments, such as regular and irregular terrain.