El texto completo de este trabajo no está disponible en el Repositorio Académico UPC por restricciones de la casa editorial donde ha sido publicado. / The fully actuated signal control detects the pedestrian density using sensors and, according to that, it prioritizes pedestrians crossing. One major problem, worldwide, is using fixed time traffic light as a traffic regulator at intersections with high pedestrian and vehicular volume. Lima is no exception, continuing to use this kind of traffic lights completely harms pedestrian accessibility, it increases their waiting and crossing times, it also affects road safety and service levels at the structures. The proposal on this article is to design a fully actuated signal control using logical controls that are able to perceive the pedestrian density on the refuge islands, making everything more accessible. In order to do this, a study to identify the pedestrian and vehicle volume was conducted on the Lima Panamerican highway. There was a total of 7506 pedestrians during rush hour, proving there is a large amount of people at the intersection at that time. Thereby, by using the VisVap module of the Vissim, the study managed to simulate and validate the priority control required. All in all, the results showed a remarkable improvement, the pedestrian crossing time was reduced by 6.84% and the service level of the intersection went from E to D.

This thesis presents the design, modeling, and control of a fully-actuated multi-rotor unmanned aerial vehicle (UAV). Unlike conventional multi-rotors, which suffer from two degrees of underactuation in their propeller plane, the choice of an unconventional propeller configuration in the new drone leads to an even distribution of actuation across the entire force-torque space. This allows the vehicle to produce any arbitrary combination of forces and torques within a bounded magnitude and hence execute motion trajectories unattainable with conventional multi-rotor designs. This system, referred to as the \omninospace, decouples the position and attitude controllers, simplifying the motion control problem. Position control is achieved using a PID feedback loop with gravity compensation, while attitude control uses a cascade architecture where the inner loop follows an angular rate command set by the outer attitude control loop. A novel model is developed to capture the disturbance effects among interacting actuator airflows of the \omninospace. Given a desired actuator thrust, the model computes the required motor command using the current battery voltage and thrusts of disturbing actuators. A system identification is performed to justify the use of a linear approximation for parameters in the model to reduce its computational footprint in real-time implementation. The \omni benefits from two degrees of actuation redundancy resulting in a control allocation problem where feasible force-torques may be produced through an infinite number of actuator thrust combinations. A novel control allocation approach is formulated as a convex optimization to minimize the \omnis energy consumption subject to the propeller thrust limits. In addition to energy savings, this optimization provides fault tolerance in the scenario of a failed actuator. A functioning prototype of the \omni is built and instrumented. Experiments carried out with this prototype demonstrate the capabilities of the new drone and its control system in following various translational and rotational trajectories, some of which would not be possible with conventional multi-rotors. The proposed optimization-based control allocation helps reduce power consumption by as much as 6\%, while being able to operate the drone in the event of a propeller failure. / Thesis / Master of Applied Science (MASc)

<p>Multirotor unmanned aerial vehicles (UAVs) added with the ability to physically interact with the environment has opened endless possibilities for aerial mobile manipulation tasks. With the unlimited reachable workspace and physical interaction capabilities, such robots can enhance human ability to perform dangerous and hard-to-reach tasks. However, realizing aerial mobile manipulation in real-world scenarios is challenging with respect to the diversity in aerial platforms, control fidelity and susceptibility to variations in the environment. Therefore, the first part of the dissertation provides tools to  classify and evaluate different multirotor designs. A measure of responsiveness of a multirotor platform in exerting generalized forces and rejecting disturbances is discussed through the control bandwidth analysis. Superiority in control bandwidth for fully-actuated multirotors is established in a comparison with equivalent under-actuated multirotors. To further classify and distinguish multirotor platforms, a new mobility measure is proposed and compared by surveying all aerial platforms employed for aerial mobile manipulation. In compliance to the control bandwidth analysis, the mobility measure for fully-actuated multirotors is relatively higher making them better suited for manipulation tasks. </p> <p><br></p> <p><br></p> <p>Aerial physical interaction, as a part of aerial mobile manipulation, with partially unknown environments is challenging due to the uncertainties imposed while dexterously exerting force signatures. A hybrid physical interaction (HyPhI) controller is proposed to enable constrained force contact with a steady transition from unconstrained motion, by squelching excess energy during initial impact. However, uncertainties posed by the partially unknown environment requires to understand the surrounding environment and their current physical states, that can enhance interaction performance. The limited resources and flight time of the multirotors requires to simultaneously understand the environment and perform aerial physical interactions. Inspection-on-the-fly is an uncanny ability of humans to intuitively infer states during manipulation while reducing the necessity to conduct inspection and manipulation separately. In this dissertation, the inspection-on-the-fly method based HyPhI controller is proposed to engage in a steady contact with partially unknown environments, while simultaneously estimating the physical states of the surfaces. The proposed method is evaluated in a mockup of real-world facility, to understand the surface properties while engaging in steady interactions. Further, such inspection of surfaces and estimation of various states enables a deeper understanding of the environment while enhancing the ability to physically interact. </p>

Diese Diplomarbeit beschäftigt sich mit der geometrischen Auslegung und Regelung einer vollaktuierten Drohne, die als fliegende Arbeitsplattform für einen Manipulator dienen soll. Dabei werden ausgehend von der geometrischen Beschreibung einer allgemeinen, symmetrischen Drohne mit sechs Rotoren Methoden entwickelt, die den anforderungsbezogenen Entwurf der Geometrie einer vollaktuierten Drohne ermöglichen. Darüber hinaus werden prinzipielle Einflussmechanismen einzelner Geometrieparameter auf die durch die Drohne erzeugbaren Kräfte und Momente aufgezeigt. Zur Charakterisierung des Raums aller erzeugbaren Lasten wird dieser auf sogenannte Stützvektoren reduziert. Als Stützvektoren dienen dabei die für den Schwebeflug nötige Schubkraft, die garantierte Mindestkraft in horizontaler Richtung und das garantierte Mindestmoment um eine beliebige Achse, zu deren Berechnung zusätzlich analytische Formeln hergeleitet werden. Aufbauend auf die Beschreibung durch Stützvektoren wird die Formuliernung von Metriken vorgestellt, die die Bewertung einer Drohnengeometrie durch eine einzige skalare Maßzahl ermöglichen, wodurch die je nach Anwendung optimale Drohnengeometrie ermittelt werden kann. Zur Regelung des Systems aus Drohne und Manipulator wurde ein Regelungskonzept entwickelt, welches durch eine Entkopplung der Bewegungsgleichungen eine virtuelle Verschiebung des Schwerpunkts in das Drohnenzentrum realisiert und so eine präzise Regelung unabhängig von der tatsächlichen Schwerpunktlage ermöglicht. / This thesis’ subject is the geometrical design and control of a fully actuated drone, intended to be used as a flying operating-platform for a manipulator. Starting with the general geometrical description of a symmetric drone with six rotors, methods for the application specific design of a fully actuated drone are developed. Furthermore general influencing principles of geometric parameters on the forces and torques that can be generated by the drone, are pointed out. To characterize the drone's wrench-space, it is reduced to so called support vectors, which are given by the hovering thrust, the minimum guaranteed force in a horizontal direction and the minimum guaranteed torque in any direction. Additionally, analytic formulas are derived for the mentioned support vectors. Based on the description by the support vectors, a formulation of metrics is introduced, to enable the assessment of a specific drone geometry by a single scalar measure, to determine the ideal drone geometry for a specific application. Targeting the issue of controlling the flight system, consisting of the drone and the manipulator, a concept is developed that realizes a virtual dissplacement of the center of mass by decoupling the equations of motion and therby facilitates a precise control, independent of the actual location of the system's center of mass.

Diese Diplomarbeit beschäftigt sich mit der geometrischen Auslegung und Regelung einer vollaktuierten Drohne, die als fliegende Arbeitsplattform für einen Manipulator dienen soll. Dabei werden ausgehend von der geometrischen Beschreibung einer allgemeinen, symmetrischen Drohne mit sechs Rotoren Methoden entwickelt, die den anforderungsbezogenen Entwurf der Geometrie einer vollaktuierten Drohne ermöglichen. Darüber hinaus werden prinzipielle Einflussmechanismen einzelner Geometrieparameter auf die durch die Drohne erzeugbaren Kräfte und Momente aufgezeigt. Zur Charakterisierung des Raums aller erzeugbaren Lasten wird dieser auf sogenannte Stützvektoren reduziert. Als Stützvektoren dienen dabei die für den Schwebeflug nötige Schubkraft, die garantierte Mindestkraft in horizontaler Richtung und das garantierte Mindestmoment um eine beliebige Achse, zu deren Berechnung zusätzlich analytische Formeln hergeleitet werden. Aufbauend auf die Beschreibung durch Stützvektoren wird die Formuliernung von Metriken vorgestellt, die die Bewertung einer Drohnengeometrie durch eine einzige skalare Maßzahl ermöglichen, wodurch die je nach Anwendung optimale Drohnengeometrie ermittelt werden kann. Zur Regelung des Systems aus Drohne und Manipulator wurde ein Regelungskonzept entwickelt, welches durch eine Entkopplung der Bewegungsgleichungen eine virtuelle Verschiebung des Schwerpunkts in das Drohnenzentrum realisiert und so eine präzise Regelung unabhängig von der tatsächlichen Schwerpunktlage ermöglicht. / This thesis’ subject is the geometrical design and control of a fully actuated drone, intended to be used as a flying operating-platform for a manipulator. Starting with the general geometrical description of a symmetric drone with six rotors, methods for the application specific design of a fully actuated drone are developed. Furthermore general influencing principles of geometric parameters on the forces and torques that can be generated by the drone, are pointed out. To characterize the drone's wrench-space, it is reduced to so called support vectors, which are given by the hovering thrust, the minimum guaranteed force in a horizontal direction and the minimum guaranteed torque in any direction. Additionally, analytic formulas are derived for the mentioned support vectors. Based on the description by the support vectors, a formulation of metrics is introduced, to enable the assessment of a specific drone geometry by a single scalar measure, to determine the ideal drone geometry for a specific application. Targeting the issue of controlling the flight system, consisting of the drone and the manipulator, a concept is developed that realizes a virtual dissplacement of the center of mass by decoupling the equations of motion and therby facilitates a precise control, independent of the actual location of the system's center of mass.