Lighter than Air Robots

1 Introduction.- 1.1 Aerial robotics.- 1.2 Outline of the book.- 2 Modeling.- 2.1 Introduction.- 2.2 Kinematics.- 2.2.1 Euler angles.- 2.2.2 Euler parameters.- 2.3 Dynamics.- 2.3.1 Mass Characteristics.- 2.3.2 6 DOF Dynamics : Newton-Euler Approach.- 2.3.3 6 DOF Dynamics : Lagrange Approach.- 2.3.4 Translational Dynamics ..- 2.4 Aerology Characteristics.- 2.4.1 Wind Profile.- 2.4.2 Down burst.- 2.5 Conclusions.- 3 Mission Planning.- 3.1 Introduction.- 3.2 Flight Planning.- 3.3 Motion Planning Algorithms Review.- 3.3.1 Overall Problem description.- 3.3.2 Problem Types.- 3.4 Planning with differential constraints.- 3.4.1 Roadmap algorithm.- 3.4.2 Artificial Potential Methods.- 3.4.3 Sampling based trajectory planning.- 3.4.4 Decoupled Trajectory Planning.- 3.4.5 The Finite State Motion Model: The Maneuver Automaton.- 3.4.6 Mathematical Programming.- 3.4.7 Receding Horizon Control.- 3.4.8 Reactive Planning.- 3.4.9 Probabilistic Roadmap Methods: PRM.- 3.4.10 Rapidly Expanding Random Tree (RRT).- 3.4.11 Guided Expansive Search Trees.- 3.5 Planning with Uncertain Winds.- 3.5.1 Receding Horizon Approach.- 3.5.2 Markov Decision Process Approach.- 3.5.3 Chance constrained predictive control under stochastic uncertainty.- 3.6 Planning in Strong Winds.- 3.7 Task Assignment.- 3.8 Conclusions.- 4.1 Introduction.- 4.2 Trajectory Generation in Hover.- 4.2.1 Trim Trajectories.- 4.2.2 Under-actuation at Hover.- 4.3 Lateral planning in cruising flight.- 4.3.1 Lateral dynamics of the lighter than air robot.- 4.3.2 Time Optimal Extremals.- 4.4 Zermelo Navigation Problem.- 4.4.1 Navigation equation.- 4.4.2 One particular solution.- 4.5 3D Trajectory design with wind.- 4.5.1 Determination of the Reference Controls.- 4.5.2 Accessibility and Controllability.- 4.5.3 Motion Planning when wind can be neglected.- 4.5.4 Determination of the Minimum Energy Trajectories.- 4.5.5 Determination of Time Optimal Trajectories.- 4.6 Parametric Curves.- 4.6.1 Cartesian polynomials.- 4.6.2 Trim Flight Paths.- 4.6.3 Non Trim Flight Paths.- 4.6.4 Maneuvers between two different trims.- 4.6.5 Frenet -Serret Approach.- 4.6.6 Pythagorean Hodograph.- 4.6.7 h3 Splines.- 4.7 Conclusions.- 5 Control.- 5.1 Introduction.- 5.2 Linear Control.- 5.2.1 Linear Formulation in Cruising flight.- 5.2.2 Flying and Handling Qualities.- 5.2.3 Classical Linear Control.- 5.2.4 Linear Robust Control.- 5.3 Nonlinear Control.- 5.3.1 Dynamic Inversion.- 5.3.2 Trajectory Tracking in a High Constant Altitude Flight.- 5.3.3 Variable Structure Robust Control.- 5.3.4 Back stepping controller design.- 5.3.5 Line tracking by path curvature and torsion.- 5.3.6 Intelligent Control.- 5.4 System Health Management.- 5.4.1 Health Monitoring.- 5.4.2 Diagnosis, Response to systems failure.- 5.5 Conclusions.- 6 General Conclusions.- 7 References.- References.- A Current Projects.- A.1 Introduction.- A.2 Artic Airship.- A.2.1 Vehicle Description.- A.2.2 Weight, mass distribution and balance.- A.2.3 Modeling and identification.- A.2.4 Aerodynamics.- A.2.5 Localization and positioning.- A.2.6 Navigation and Path Planner.- A.2.7 Feeding the path planner with realistic wind information.- A.2.8 Data processing and transmission.- A.2.9 Airship Piloting and Response to wind disturbances.- A.2.10 Loading and unloading lifts.- A.2.11 Diagnosis, Response to systems failure.- A.2.12 Flight dynamics simulator.- A.2.13 Small scale delta-wing quad-rotor airship.- A.2.14 Ground handling.- A.3 Bridge Monitoring.- A.4 Monitoring of high voltage power networks.- A.4.1 Current market for inspection of electrical networks.- A.4.2 Project Goals.- A.5 FAA Recommendations .- A.6 Indoor Lighter Than Air Robot : A Differential Geometry Modeling Approach.- Index.